相关论文: Hierarchical Reinforcement Learning for Self-Drivi…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…

Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…

High-level driving behavior decision-making is an open-challenging problem for connected vehicle technology, especially in heterogeneous traffic scenarios. In this paper, a deep reinforcement learning based high-level driving behavior…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

Decision-making strategy for autonomous vehicles de-scribes a sequence of driving maneuvers to achieve a certain navigational mission. This paper utilizes the deep reinforcement learning (DRL) method to address the continuous-horizon…

Tactical decision making is a critical feature for advanced driving systems, that incorporates several challenges such as complexity of the uncertain environment and reliability of the autonomous system. In this work, we develop a…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…

Developing decision-making algorithms for highly automated driving systems remains challenging, since these systems have to operate safely in an open and complex environments. Reinforcement Learning (RL) approaches can learn comprehensive…

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…

Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

Autonomous driving is a promising technology to reduce traffic accidents and improve driving efficiency. In this work, a deep reinforcement learning (DRL)-enabled decision-making policy is constructed for autonomous vehicles to address the…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…