Roadside Units Assisted Localized Automated Vehicle Maneuvering: An Offline Reinforcement Learning Approach (2405.03935v2)
Abstract: Traffic intersections present significant challenges for the safe and efficient maneuvering of connected and automated vehicles (CAVs). This research proposes an innovative roadside unit (RSU)-assisted cooperative maneuvering system aimed at enhancing road safety and traveling efficiency at intersections for CAVs. We utilize RSUs for real-time traffic data acquisition and train an offline reinforcement learning (RL) algorithm based on human driving data. Evaluation results obtained from hardware-in-loop autonomous driving simulations show that our approach employing the twin delayed deep deterministic policy gradient and behavior cloning (TD3+BC), achieves performance comparable to state-of-the-art autonomous driving systems in terms of safety measures while significantly enhancing travel efficiency by up to 17.38% in intersection areas. This paper makes a pivotal contribution to the field of intelligent transportation systems, presenting a breakthrough solution for improving urban traffic flow and safety at intersections.
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- Kui Wang (44 papers)
- Changyang She (43 papers)
- Zongdian Li (10 papers)
- Tao Yu (282 papers)
- Yonghui Li (241 papers)
- Kei Sakaguchi (35 papers)