Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/163811
Title: An integrated decision-making framework for highway autonomous driving using combined learning and rule-based algorithm
Authors: Xu, Can
Zhao, Wanzhong
Liu, Jinqiang
Wang, Chunyan
Lv, Chen
Keywords: Engineering::Mechanical engineering
Issue Date: 2022
Source: Xu, C., Zhao, W., Liu, J., Wang, C. & Lv, C. (2022). An integrated decision-making framework for highway autonomous driving using combined learning and rule-based algorithm. IEEE Transactions On Vehicular Technology, 71(4), 3621-3632. https://dx.doi.org/10.1109/TVT.2022.3150343
Journal: IEEE Transactions on Vehicular Technology
Abstract: In order to solve the manual labelling, long-tail effect and driving conservatism of the existing decision-making algorithm. This paper proposed an integrated decision-making framework (IDF) for highway autonomous vehicles. Firstly, states of the highway traffic are extracted by the velocity, time headway (TH) and the probabilistic lane distribution of the surrounding vehicles. With the extracted traffic state, the reinforcement learning (RL) is adopted to learn the optimal state-action pair for specific scenario. Analogously, by mapping millions of traffic scenarios, huge amounts of state-action pairs can be stored in the experience pool. Then the imitation learning (IL) is further employed to memorize the experience pool by deep neural networks. The learning result shows that the accuracy of the decision network can reach 94.17%. Besides, for some imperfect decisions of the network, the rule-based method is taken to rectify by judging the long-term reward. Finally, the IDF is simulated in G25 highway and has promising results, which can always drive the vehicle to the state with high efficiency while ensuring safety.
URI: https://hdl.handle.net/10356/163811
ISSN: 0018-9545
DOI: 10.1109/TVT.2022.3150343
Rights: © 2022 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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