{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T03:58:23Z","timestamp":1771041503492,"version":"3.50.1"},"reference-count":33,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB2502901"],"award-info":[{"award-number":["2022YFB2502901"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Tsinghua University-Toyota Joint Research Center for AI Technology of Automated Vehicle"},{"DOI":"10.13039\/501100001809","name":"NSF China","doi-asserted-by":"publisher","award":["U20A20334"],"award-info":[{"award-number":["U20A20334"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"NSF China","doi-asserted-by":"publisher","award":["52072213"],"award-info":[{"award-number":["52072213"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"NSF China","doi-asserted-by":"publisher","award":["52202487"],"award-info":[{"award-number":["52202487"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2023,5]]},"DOI":"10.1109\/tits.2023.3237568","type":"journal-article","created":{"date-parts":[[2023,1,26]],"date-time":"2023-01-26T19:01:27Z","timestamp":1674759687000},"page":"5003-5013","source":"Crossref","is-referenced-by-count":38,"title":["Policy Iteration Based Approximate Dynamic Programming Toward Autonomous Driving in Constrained Dynamic Environment"],"prefix":"10.1109","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0532-0030","authenticated-orcid":false,"given":"Ziyu","family":"Lin","sequence":"first","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9405-8232","authenticated-orcid":false,"given":"Jun","family":"Ma","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3697-1576","authenticated-orcid":false,"given":"Jingliang","family":"Duan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4923-3633","authenticated-orcid":false,"given":"Shengbo Eben","family":"Li","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9943-0638","authenticated-orcid":false,"given":"Haitong","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2785-516X","authenticated-orcid":false,"given":"Tong Heng","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, National University of Singapore, Queenstown, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2022.3165846"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3094215"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2019.2900510"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0317"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IVWorkshops54471.2021.9669260"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3163816"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3194571"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-018-0139-4"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3032711"},{"key":"ref32","article-title":"Mixed policy gradient","author":"guan","year":"2021","journal-title":"arXiv 2102 11513"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2021.04.134"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1038\/497181a"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0249"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"6584","DOI":"10.1109\/TNNLS.2021.3082568","article-title":"Distributional soft actor-critic: Off-policy reinforcement learning for addressing value estimation errors","volume":"33","author":"duan","year":"2022","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-19-7784-8"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICCCR49711.2021.9349412"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS50048.2020.9274944"},{"key":"ref23","author":"howard","year":"1960","journal-title":"Dynamic Programming and Markov Processes"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2014.6896497"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-50815-3"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3046646"},{"key":"ref22","doi-asserted-by":"crossref","DOI":"10.1002\/9780470182963","author":"powell","year":"2007","journal-title":"Approximate Dynamic Programming Solving the Curses of Dimensionality"},{"key":"ref21","first-page":"493","article-title":"Approximate dynamic programming for real time control and neural modelling","author":"werbos","year":"1992","journal-title":"Handbook of Intelligent Control Neural Fuzzy and Adaptive Approaches"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1987.289329"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/YAC.2016.7804933"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2022.3225090"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3036984"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"2310","DOI":"10.1109\/TITS.2019.2916354","article-title":"Trajectory planning for autonomous high-speed overtaking in structured environments using robust MPC","volume":"21","author":"dixit","year":"2019","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3153800"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1504\/IJVAS.2005.008237"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2010.2049203"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2753169"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2453404"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6979\/10121021\/10026660.pdf?arnumber=10026660","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T17:43:34Z","timestamp":1685382214000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10026660\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5]]},"references-count":33,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tits.2023.3237568","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"value":"1524-9050","type":"print"},{"value":"1558-0016","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,5]]}}}