A Decision-Making Model for Autonomous Vehicles at Intersections Based on Hierarchical Reinforcement Learning

Xue Mei Chen, Shu Yuan Xu, Zi Jia Wang, Xue Long Zheng, Xin Tong Han, En Hao Liu

科研成果: 期刊稿件文章同行评审

2 引用 (Scopus)

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
12
4
DOI
出版状态已出版 - 1 7月 2024

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