Adaptive Decision Making at the Intersection for Autonomous Vehicles Based on Skill Discovery

Xianqi He, Lin Yang, Chao Lu*, Zirui Li, Jianwei Gong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

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 vehicles. Manually designed model-based methods are reliable in common scenarios. But in uncertain environments, they are not reliable, so learning-based methods are proposed, especially reinforcement learning (RL) methods. However, current RL methods need retraining when the scenarios change. In other words, current RL methods cannot reuse accumulated knowledge. They forget learned knowledge when new scenarios are given. To solve this problem, we propose a hierarchical framework that can autonomously accumulate and reuse knowledge. The proposed method combines the idea of motion primitives (MPs) with hierarchical reinforcement learning (HRL). It decomposes complex problems into multiple basic subtasks to reduce the difficulty. The proposed method and other baseline methods are tested in a challenging intersection scenario based on the CARLA simulator. The intersection scenario contains three different subtasks that can reflect the complexity and uncertainty of real traffic flow. After offline learning and testing, the proposed method is proved to have the best performance among all methods.

Original languageEnglish
Title of host publication2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2842-2847
Number of pages6
ISBN (Electronic)9781665468800
DOIs
Publication statusPublished - 2022
Event25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022 - Macau, China
Duration: 8 Oct 202212 Oct 2022

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2022-October

Conference

Conference25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022
Country/TerritoryChina
CityMacau
Period8/10/2212/10/22

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