相关论文: Deep Surrogate Q-Learning for Autonomous Driving
Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…
Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane…
Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…
While contemporary reinforcement learning research and applications have embraced policy gradient methods as the panacea of solving learning problems, value-based methods can still be useful in many domains as long as we can wrangle with…
Due to the complexity and volatility of the traffic environment, decision-making in autonomous driving is a significantly hard problem. In this project, we use a Deep Q-Network, along with rule-based constraints to make lane-changing…
In the field of Autonomous Driving, the system controlling the vehicle can be seen as an agent acting in a complex environment and thus naturally fits into the modern framework of Reinforcement Learning. However, learning to drive can be a…
This paper explores the application of deep reinforcement learning (RL) techniques in the domain of autonomous self-driving car racing. Motivated by the rise of AI-driven mobility and autonomous racing events, the project aims to develop an…
The common pipeline in autonomous driving systems is highly modular and includes a perception component which extracts lists of surrounding objects and passes these lists to a high-level decision component. In this case, leveraging the…
The behavior decision-making subsystem is a key component of the autonomous driving system, which reflects the decision-making ability of the vehicle and the driver, and is an important symbol of the high-level intelligence of the vehicle.…
We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to…
Autonomous driving in multi-agent dynamic traffic scenarios is challenging: the behaviors of road users are uncertain and are hard to model explicitly, and the ego-vehicle should apply complicated negotiation skills with them, such as…
Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…
We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…
Autonomous driving is a challenging domain that entails multiple aspects: a vehicle should be able to drive to its destination as fast as possible while avoiding collision, obeying traffic rules and ensuring the comfort of passengers. In…
Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…
Currently decision making is one of the biggest challenges in autonomous driving. This paper introduces a method for safely navigating an autonomous vehicle in highway scenarios by combining deep Q-Networks and insight from control theory.…
Decision making for autonomous driving in urban environments is challenging due to the complexity of the road structure and the uncertainty in the behavior of diverse road users. Traditional methods consist of manually designed rules as the…
This paper introduces a method, based on deep reinforcement learning, for automatically generating a general purpose decision making function. A Deep Q-Network agent was trained in a simulated environment to handle speed and lane change…
Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…