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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…

The development of autonomous vehicles has shown great potential to enhance the efficiency and safety of transportation systems. However, the decision-making issue in complex human-machine mixed traffic scenarios, such as unsignalized…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…

As an emerging technology, Connected Autonomous Vehicles (CAVs) are believed to have the ability to move through intersections in a faster and safer manner, through effective Vehicle-to-Everything (V2X) communication and global observation.…

In this work, we present a reward-driven automated curriculum reinforcement learning approach for interaction-aware self-driving at unsignalized intersections, taking into account the uncertainties associated with surrounding vehicles…

Navigating urban intersections, especially when interacting with heterogeneous traffic participants, presents a formidable challenge for autonomous vehicles (AVs). In such environments, safety risks arise simultaneously from multiple…

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Autonomous driving decision-making at unsignalized intersections is highly challenging due to complex dynamic interactions and high conflict risks. To achieve proactive safety control, this paper proposes a deep reinforcement learning (DRL)…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

Unsignalized intersections pose significant safety and efficiency challenges due to complex traffic flows. This paper proposes a novel roadside unit (RSU)-centric cooperative driving system leveraging global perception and…

Autonomous Intersection Management (AIM) provides a signal-free intersection scheduling paradigm for Connected Autonomous Vehicles (CAVs). Distributed learning method has emerged as an attractive branch of AIM research. Compared with…

Autonomous Vehicles (AVs) must make reliable decisions in dense urban environments where pedestrian behavior is variable, sometimes abnormal, and often unseen during training. Reinforcement learning (RL)-based AV control systems perform…

Autonomous driving at unsignalized intersections is still considered a challenging application for machine learning due to the complications associated with handling complex multi-agent scenarios characterized by a high degree of…

In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

The transition from today's mostly human-driven traffic to a purely automated one will be a gradual evolution, with the effect that we will likely experience mixed traffic in the near future. Connected and automated vehicles can benefit…

Reinforcement learning is nowadays a popular framework for solving different decision making problems in automated driving. However, there are still some remaining crucial challenges that need to be addressed for providing more reliable…

Traversing intersections is a challenging problem for autonomous vehicles, especially when the intersections do not have traffic control. Recently deep reinforcement learning has received massive attention due to its success in dealing with…