30 research outputs found
Analyzing Robustness of the Deep Reinforcement Learning Algorithm in Ramp Metering Applications Considering False Data Injection Attack and Defense
Ramp metering is the act of controlling on-going vehicles to the highway
mainlines. Decades of practices of ramp metering have proved that ramp metering
can decrease total travel time, mitigate shockwaves, decrease rear-end
collisions by smoothing the traffic interweaving process, etc. Besides
traditional control algorithm like ALINEA, Deep Reinforcement Learning (DRL)
algorithms have been introduced to build a finer control. However, two
remaining challenges still hinder DRL from being implemented in the real world:
(1) some assumptions of algorithms are hard to be matched in the real world;
(2) the rich input states may make the model vulnerable to attacks and data
noises. To investigate these issues, we propose a Deep Q-Learning algorithm
using only loop detectors information as inputs in this study. Then, a set of
False Data Injection attacks and random noise attack are designed to
investigate the robustness of the model. The major benefit of the model is that
it can be applied to almost any ramp metering sites regardless of the road
geometries and layouts. Besides outcompeting the ALINEA method, the Deep
Q-Learning method also shows a good robustness through training among very
different demands and geometries. For example, during the testing case in I-24
near Murfreesboro, TN, the model shows its robustness as it still outperforms
ALINEA algorithm under Fast Gradient Sign Method attacks. Unlike many previous
studies, the model is trained and tested in completely different environments
to show the capabilities of the model.Comment: 11 pages, 5 figure
The State-of-the-art of Coordinated Ramp Control with Mixed Traffic Conditions
Ramp metering, a traditional traffic control strategy for conventional
vehicles, has been widely deployed around the world since the 1960s. On the
other hand, the last decade has witnessed significant advances in connected and
automated vehicle (CAV) technology and its great potential for improving
safety, mobility and environmental sustainability. Therefore, a large amount of
research has been conducted on cooperative ramp merging for CAVs only. However,
it is expected that the phase of mixed traffic, namely the coexistence of both
human-driven vehicles and CAVs, would last for a long time. Since there is
little research on the system-wide ramp control with mixed traffic conditions,
the paper aims to close this gap by proposing an innovative system architecture
and reviewing the state-of-the-art studies on the key components of the
proposed system. These components include traffic state estimation, ramp
metering, driving behavior modeling, and coordination of CAVs. All reviewed
literature plot an extensive landscape for the proposed system-wide coordinated
ramp control with mixed traffic conditions.Comment: 8 pages, 1 figure, IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE
- ITSC 201
Vision-Based Lane-Changing Behavior Detection Using Deep Residual Neural Network
Accurate lane localization and lane change detection are crucial in advanced
driver assistance systems and autonomous driving systems for safer and more
efficient trajectory planning. Conventional localization devices such as Global
Positioning System only provide road-level resolution for car navigation, which
is incompetent to assist in lane-level decision making. The state of art
technique for lane localization is to use Light Detection and Ranging sensors
to correct the global localization error and achieve centimeter-level accuracy,
but the real-time implementation and popularization for LiDAR is still limited
by its computational burden and current cost. As a cost-effective alternative,
vision-based lane change detection has been highly regarded for affordable
autonomous vehicles to support lane-level localization. A deep learning-based
computer vision system is developed to detect the lane change behavior using
the images captured by a front-view camera mounted on the vehicle and data from
the inertial measurement unit for highway driving. Testing results on
real-world driving data have shown that the proposed method is robust with
real-time working ability and could achieve around 87% lane change detection
accuracy. Compared to the average human reaction to visual stimuli, the
proposed computer vision system works 9 times faster, which makes it capable of
helping make life-saving decisions in time
SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments
Designing a safe and human-like decision-making system for an autonomous
vehicle is a challenging task. Generative imitation learning is one possible
approach for automating policy-building by leveraging both real-world and
simulated decisions. Previous work that applies generative imitation learning
to autonomous driving policies focuses on learning a low-level controller for
simple settings. However, to scale to complex settings, many autonomous driving
systems combine fixed, safe, optimization-based low-level controllers with
high-level decision-making logic that selects the appropriate task and
associated controller. In this paper, we attempt to bridge this gap in
complexity by employing Safety-Aware Hierarchical Adversarial Imitation
Learning (SHAIL), a method for learning a high-level policy that selects from a
set of low-level controller instances in a way that imitates low-level driving
data on-policy. We introduce an urban roundabout simulator that controls
non-ego vehicles using real data from the Interaction dataset. We then show
empirically that our approach can produce better behavior than previous
approaches in driver imitation which have difficulty scaling to complex
environments. Our implementation is available at
https://github.com/sisl/InteractionImitation