3,801 research outputs found

    Combining Planning and Deep Reinforcement Learning in Tactical Decision Making for Autonomous Driving

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    Tactical decision making for autonomous driving is challenging due to the diversity of environments, the uncertainty in the sensor information, and the complex interaction with other road users. This paper introduces a general framework for tactical decision making, which combines the concepts of planning and learning, in the form of Monte Carlo tree search and deep reinforcement learning. The method is based on the AlphaGo Zero algorithm, which is extended to a domain with a continuous state space where self-play cannot be used. The framework is applied to two different highway driving cases in a simulated environment and it is shown to perform better than a commonly used baseline method. The strength of combining planning and learning is also illustrated by a comparison to using the Monte Carlo tree search or the neural network policy separately

    Bicycle traffic and its interaction with motorized traffic in an agent-based transport simulation framework

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    Cycling as an inexpensive, healthy, and efficient mode of transport for everyday traveling is becoming increasingly popular. While many cities are promoting cycling, it is rarely included in transport models and systematic policy evaluation procedures. The purpose of this study is to extend the agent-based transport simulation framework MATSim to be able to model bicycle traffic more realistically. The network generation procedure is enriched to include attributes that are relevant for cyclists (e.g. road surfaces, slopes). Travel speed computations, plan scoring, and routing are enhanced to take into account these infrastructure attributes. The scoring, i.e. the evaluation of simulated daily travel plans, is furthermore enhanced to account for traffic events that emerge in the simulation (e.g. passings by cars), which have an additional impact on cyclists’ decisions. Inspired by an evolutionary computing perspective, a randomizing router was implemented to enable cyclists to find realistic routes. It is discussed in detail why this approach is both feasible in practical terms and also conceptually consistent with MATSim’s co-evolutionary simulation approach. It is shown that meaningful simulation results are obtained for an illustrative scenario, which indicates that the developed methods will make real-world scenarios more realistic in terms of the representation of bicycle traffic. Based on the exclusive reliance on open data, the approach is spatially transferable

    Learning-based social coordination to improve safety and robustness of cooperative autonomous vehicles in mixed traffic

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    It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social interactions in a socially accepted manner. However, AVs are still inefficient in terms of cooperating with HVs and struggle to understand and adapt to human behavior, which is particularly challenging in mixed autonomy. In a road shared by AVs and HVs, the social preferences or individual traits of HVs are unknown to the AVs and different from AVs, which are expected to follow a policy, HVs are particularly difficult to forecast since they do not necessarily follow a stationary policy. To address these challenges, we frame the mixed-autonomy problem as a multi-agent reinforcement learning (MARL) problem and propose an approach that allows AVs to learn the decision-making of HVs implicitly from experience, account for all vehicles' interests, and safely adapt to other traffic situations. In contrast with existing works, we quantify AVs' social preferences and propose a distributed reward structure that introduces altruism into their decision-making process, allowing the altruistic AVs to learn to establish coalitions and influence the behavior of HVs.Comment: arXiv admin note: substantial text overlap with arXiv:2202.0088

    CBPRS: A City Based Parking and Routing System

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    Navigational systems assist drivers in finding a route between two locations that is time optimal in theory but seldom in practice due to delaying circumstances the system is unaware of, such as traffic jams. Upon arrival at the destination the service of the system ends and the driver is forced to locate a parking place without further assistance. We propose a City Based Parking Routing System (CBPRS) that monitors and reserves parking places for CBPRS participants within a city. The CBPRS guides vehicles using an ant based distributed hierarchical routing algorithm to their reserved parking place. Through means of experiments in a simulation environment we found that reductions of travel times for participants were significant in comparison to a situation where vehicles relied on static routing information generated by the well known Dijkstra’s algorithm. Furthermore, we found that the CBPRS was able to increase city wide traffic flows and decrease the number and duration of traffic jams throughout the city once the number of participants increased.information systems;computer simulation;dynamic routing

    Automated Speed and Lane Change Decision Making using Deep Reinforcement Learning

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    This paper introduces a method, based on deep reinforcement learning, for automatically generating a general purpose decision making function. A Deep Q-Network agent was trained in a simulated environment to handle speed and lane change decisions for a truck-trailer combination. In a highway driving case, it is shown that the method produced an agent that matched or surpassed the performance of a commonly used reference model. To demonstrate the generality of the method, the exact same algorithm was also tested by training it for an overtaking case on a road with oncoming traffic. Furthermore, a novel way of applying a convolutional neural network to high level input that represents interchangeable objects is also introduced
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