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 language | English |
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Title of host publication | Proceedings of the 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) |
Publisher | IEEE |
Pages | 2842-2847 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-6654-6880-0 |
ISBN (Print) | 978-1-6654-6881-7 |
DOIs | |
Publication status | Published - 2022 |
Event | 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) - Macau, China Duration: 8 Oct 2022 → 12 Oct 2022 Conference number: 25th |
Conference
Conference | 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) |
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Country/Territory | China |
City | Macau |
Period | 8/10/22 → 12/10/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.