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Prediction based decision making for autonomous highway driving
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Yildirim, Mustafa, Mozaffari, Sajjad, McCutcheon, Luc, Dianati, Mehrdad, Tamaddoni-Nezhad, Alireza and Fallah, Saber (2022) Prediction based decision making for autonomous highway driving. In: 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Macau, China, 08-12 Oct 2022. Published in: 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) ISBN 9781665468800. doi:10.1109/itsc55140.2022.9922398
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Official URL: https://doi.org/10.1109/ITSC55140.2022.9922398
Abstract
Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow. Anticipating the intention of surrounding vehicles, estimating their future states and integrating them into the decision-making process of an automated vehicle can enhance the reliability of autonomous driving in complex driving scenarios. This paper proposes a Prediction-based Deep Reinforcement Learning (PDRL) decision-making model that considers the manoeuvre intentions of surrounding vehicles in the decision-making process for highway driving. The model is trained using real traffic data and tested in various traffic conditions through a simulation platform. The results show that the proposed PDRL model improves the decision-making performance compared to a Deep Reinforcement Learning (DRL) model by decreasing collision numbers, resulting in safer driving.
Item Type: | Conference Item (Paper) | ||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||
SWORD Depositor: | Library Publications Router | ||||
Journal or Publication Title: | 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) | ||||
Publisher: | IEEE | ||||
ISBN: | 9781665468800 | ||||
Official Date: | 1 November 2022 | ||||
Dates: |
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DOI: | 10.1109/itsc55140.2022.9922398 | ||||
Status: | Peer Reviewed | ||||
Publication Status: | Published | ||||
Conference Paper Type: | Paper | ||||
Title of Event: | 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) | ||||
Type of Event: | Conference | ||||
Location of Event: | Macau, China | ||||
Date(s) of Event: | 08-12 Oct 2022 |
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