DeepAI AI Chat
Log In Sign Up

Centralized Conflict-free Cooperation for Connected and Automated Vehicles at Intersections by Proximal Policy Optimization

12/18/2019
by   Yang Guan, et al.
China Agricultural University
0

Connected vehicles will change the modes of future transportation management and organization, especially at intersections. There are mainly two categories coordination methods at unsignalized intersection, i.e. centralized and distributed methods. Centralized coordination methods need huge computation resources since they own a centralized controller to optimize the trajectories for all approaching vehicles, while in distributed methods each approaching vehicles owns an individual controller to optimize the trajectory considering the motion information and the conflict relationship with its neighboring vehicles, which avoids huge computation but needs sophisticated manual design. In this paper, we propose a centralized conflict-free cooperation method for multiple connected vehicles at unsignalized intersection using reinforcement learning (RL) to address computation burden naturally by training offline. We firstly incorporate a prior model into proximal policy optimization (PPO) algorithm to accelerate learning process. Then we present the design of state, action and reward to formulate centralized cooperation as RL problem. Finally, we train a coordinate policy by our model-accelerated PPO (MA-PPO) in a simulation setting and analyze results. Results show that the method we propose improves the traffic efficiency of the intersection on the premise of ensuring no collision.

READ FULL TEXT

page 1

page 6

02/03/2023

Reinforcement Learning and Distributed Model Predictive Control for Conflict Resolution in Highly Constrained Spaces

This work presents a distributed algorithm for resolving cooperative mul...
04/29/2019

Reinforcement Learning Scheduler for Vehicle-to-Vehicle Communications Outside Coverage

Radio resources in vehicle-to-vehicle (V2V) communication can be schedul...
03/09/2020

Behavior Planning For Connected Autonomous Vehicles Using Feedback Deep Reinforcement Learning

With the development of communication technologies, connected autonomous...
10/20/2020

Multi-Radar Tracking Optimization for Collaborative Combat

Smart Grids of collaborative netted radars accelerate kill chains throug...