An Agent-based Model for Driving Policy Learning in Connected and Autonomous Vehicles.
Due to the complexity of the natural world, a programmer cannot foresee all possible situations a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due to the sensing of its surroundings and information exchanged with other vehicles and road infrastructure a CAV will have access to large amounts of useful data. This paper investigates a data driven driving policy learning framework through an agent based learning. A reinforcement learning framework is presented in the paper, which simulates the self-evolution of a CAV over its lifetime. The results indicated that overtime the CAVs are able to learn useful policies to avoid crashes and achieve its objectives in more efficient ways. Vehicle to vehicle communication in particular, enables additional useful information to be acquired by CAVs, which in turn enables CAVs to learn driving policies more efficiently. The simulation results indicate that while a CAV can learn to make autonomous decision V2V communication of information improves this capability. The future work will investigate complex driving policies such as roundabout negotiations, cooperative learning between CAVs and deep reinforcement learning to traverse larger state spaces.
Publisher URL: http://arxiv.org/abs/1709.04622
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