Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to failure when unexpected situations are encountered. In our study, we proposed a Reinforcement Learning based approach to train the vehicle agent to learn an automated lane change behavior such that it can intelligently make a lane change under diverse and even unforeseen scenarios. Particularly, we treated both state space and action space as continuous, and designed a Q-function approximator that has a closed-form greedy policy, which contributes to the computation efficiency of our deep Q-learning algorithm. Extensive simulations are conducted for training the algorithm, and the results illustrate that the Reinforcement Learning based vehicle agent is capable of learning a smooth and efficient driving policy for lane change maneuvers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Reinforcement Learning Based Approach for Automated Lane Change Maneuvers


    Beteiligte:
    Wang, Pin (Autor:in) / Chan, Ching-Yao (Autor:in) / Fortelle, Arnaud de La (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    1368645 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A REINFORCEMENT LEARNING BASED APPROACH FOR AUTOMATED LANE CHANGE MANEUVERS

    Wang, Pin / Chan, Ching-Yao / de La Fortelle, Arnaud | British Library Conference Proceedings | 2018


    A Reinforcement Learning Based Approach for Automated Lane Change Maneuvers

    Wang, Pin / Chan, Ching-Yao / de La Fortelle, Arnaud | ArXiv | 2018

    Freier Zugriff

    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia / Brannstrom, Mattias / Coelingh, Erik et al. | IEEE | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2016