摘要
By aiming at addressing the left-turning problem of an autonomous vehicle considering the oncoming vehicles at an urban unsignallized intersection, a hierarchical reinforcement learning is proposed and a two-layer model is established to study behaviors of left-turning driving. Compared with the conventional decision-making models with a fixed path, the proposed multi-paths decision-making algorithm with horizontal and vertical strategies can improve the efficiency of autonomous vehicles crossing intersections while ensuring safety.
源语言 | 英语 |
---|---|
页(从-至) | 641-652 |
页数 | 12 |
期刊 | Unmanned Systems |
卷 | 12 |
期 | 4 |
DOI | |
出版状态 | 已出版 - 1 7月 2024 |
指纹
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Chen, X. M., Xu, S. Y., Wang, Z. J., Zheng, X. L., Han, X. T., & Liu, E. H. (2024). A Decision-Making Model for Autonomous Vehicles at Intersections Based on Hierarchical Reinforcement Learning. Unmanned Systems, 12(4), 641-652. https://doi.org/10.1142/S2301385024500122