相关论文: RACE-SM: Reinforcement Learning Based Autonomous C…
Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…
In urban environments, the complex and uncertain intersection scenarios are challenging for autonomous driving. To ensure safety, it is crucial to develop an adaptive decision making system that can handle the interaction with other…
On-ramp merging is a challenging task for autonomous vehicles (AVs), especially in mixed traffic where AVs coexist with human-driven vehicles (HDVs). In this paper, we formulate the mixed-traffic highway on-ramp merging problem as a…
Merging at highway on-ramps while interacting with other human-driven vehicles is challenging for autonomous vehicles (AVs). An efficient route to this challenge requires exploring and exploiting knowledge of the interaction process from…
Many current behavior generation methods struggle to handle real-world traffic situations as they do not scale well with complexity. However, behaviors can be learned off-line using data-driven approaches. Especially, reinforcement learning…
Vehicles today can drive themselves on highways and driverless robotaxis operate in major cities, with more sophisticated levels of autonomous driving expected to be available and become more common in the future. Yet, technically speaking,…
This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that…
Reinforcement learning (RL) has recently been used for solving challenging decision-making problems in the context of automated driving. However, one of the main drawbacks of the presented RL-based policies is the lack of safety guarantees,…
When autonomous vehicles are deployed on public roads, they will encounter countless and diverse driving situations. Many manually designed driving policies are difficult to scale to the real world. Fortunately, reinforcement learning has…
Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…
The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…
Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…
General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…
Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…
Autonomous driving has been at the forefront of public interest, and a pivotal debate to widespread concerns is safety in the transportation system. Deep reinforcement learning (DRL) has been applied to autonomous driving to provide…
In this work, we study adaptive data-guided traffic planning and control using Reinforcement Learning (RL). We shift from the plain use of classic methods towards state-of-the-art in deep RL community. We embed several recent techniques in…
Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…
Reinforcement learning techniques can provide substantial insights into the desired behaviors of future autonomous driving systems. By optimizing for societal metrics of traffic such as increased throughput and reduced energy consumption,…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
Decision making in dense traffic can be challenging for autonomous vehicles. An autonomous system only relying on predefined road priorities and considering other drivers as moving objects will cause the vehicle to freeze and fail the…