Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation
文献类型：期刊论文
| 作者 | Xiaolong Chen ; Biao Xu; Manjiang Hu; Yougang Bian; Yang Li; Xin Xu
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| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:9页码:2011-2026 |
| 关键词 | Autonomous driving decision-making reinforcement learning (RL) unsignalized intersection |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2024.124287 |
| 英文摘要 | Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently. This paper proposes a reinforcement learning (RL) method for autonomous vehicles to navigate unsignalized intersections safely and efficiently. The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning. A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them. A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections. The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem. The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency. Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions. The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58813]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Xiaolong Chen,Biao Xu,Manjiang Hu,et al. Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(9):2011-2026. |
| APA | Xiaolong Chen,Biao Xu,Manjiang Hu,Yougang Bian,Yang Li,&Xin Xu.(2024).Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation.IEEE/CAA Journal of Automatica Sinica,11(9),2011-2026. |
| MLA | Xiaolong Chen,et al."Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation".IEEE/CAA Journal of Automatica Sinica 11.9(2024):2011-2026. |
入库方式： OAI收割
来源：自动化研究所
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