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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    He, Xianqi (author) / Yang, Lin (author) / Lu, Chao (author) / Li, Zirui (author) / Gong, Jianwei (author)


    Publication date :

    2022-10-08


    Size :

    1333466 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Intersection decision making for autonomous vehicles based on improved PPO algorithm

    Dong Guo / Shoulin He / Shouwen Ji | DOAJ | 2024

    Free access

    Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles

    Pruekprasert, Sasinee / Zhang, Xiaoyi / Dubut, Jeremy et al. | IEEE | 2019


    Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles

    Pruekprasert, Sasinee / Zhang, Xiaoyi / Dubut, Jérémy et al. | ArXiv | 2019

    Free access

    Autonomous Vehicles Implementing User-Based Decision Making

    GLAZBERG ZIV / UR SHMUEL | European Patent Office | 2024

    Free access