Research on decision-making of autonomous vehicle following based on reinforcement learning method
Abstract
Purpose: Over the past decades, there has been significant research effort dedicated to the development of autonomous vehicles. The decision-making system, which is responsible for driving safety, is one of the most important technologies for autonomous vehicles. The purpose of this study is the use of an intensive learning method combined with car-following data by a driving simulator to obtain an explanatory learning following algorithm and establish an anthropomorphic car-following model. Design/methodology/approach: This paper proposed car-following method based on reinforcement learning for autonomous vehicles decision-making. An approximator is used to approximate the value function by determining state space, action space and state transition relationship. A gradient descent method is used to solve the parameter. Findings: The effect of car-following on certain driving styles is initially achieved through the simulation of step conditions. The effect of car-following initially proves that the reinforcement learning system is more adaptive to car following and that it has certain explanatory and stability based on the explicit calculation of R. Originality/value: The simulation results show that the car-following method based on reinforcement learning for autonomous vehicle decision-making realizes reliable car-following decision-making and has the advantages of simple sample, small amount of data, simple algorithm and good robustness.
Additional Information
© 2019 Emerald Publishing Limited. Publication date: 20 May 2019. This work was supported by China Postdoctoral Science Foundation Special Funded Projects under Grant No. 2018T110095, Project funded by China Postdoctoral Science Foundation under Grant No. 2017M620765, National Key Research and Development Program of China under Grant No. 2017YFB0102603, the Joint Funds of the National Natural Science Foundation of China under Grant No. U1804161, and Junior Fellowships for Advanced Innovation Think-tank Program of China Association for Science and Technology under Grant No. DXB-ZKQN-2017-035.Additional details
- Eprint ID
- 99430
- Resolver ID
- CaltechAUTHORS:20191024-084118713
- 2018T110095
- China Postdoctoral Science Foundation
- 2017M620765
- China Postdoctoral Science Foundation
- 2017YFB0102603
- National Key Research and Development Program of China
- U1804161
- National Natural Science Foundation of China
- DXB-ZKQN-2017-035
- China Association for Science and Technology
- Created
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2019-10-24Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field