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Authors: Yizhou Song ; Kaisheng Huang and Wei Zhong

Affiliation: The Joint Laboratory for Internet of Vehicles, Ministry of Education - China Mobile Communications Corporation, State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China, China

Keyword(s): Autonomous Vehicle; Lane-Changing Decision-Making; Reinforcement Learning.

Abstract: The lane-changing decision-making is a great challenge in autonomous driving system, especially to judge the feasibility of lane-changing due to the randomness and complexity of surrounding traffic participants. Reinforcement learning has been shown to outperform many rule-based algorithm for some complex systems. In this paper, the single-step deep Q network algorithm is proposed by combining single-step reinforcement learning and deep Q network, and it is applied to judge the feasibility of lane-changing for autonomous vehicle. In a real-world-like and random traffic environment built in Carmaker, the trained agent can make correct judgment about the feasibility of lane-changing. Comparing the single-step deep Q network with the general deep Q network, although the general deep Q network can converge, there are still collisions, and the agent trained by single-step deep Q network is absolutely safe.

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Paper citation in several formats:
Song, Y.; Huang, K. and Zhong, W. (2020). Lane-changing Decision-making using Single-step Deep Q Network. In Proceedings of the International Symposium on Frontiers of Intelligent Transport System - FITS; ISBN 978-989-758-465-7, SciTePress, pages 25-32. DOI: 10.5220/0010009600250032

@conference{fits20,
author={Yizhou Song. and Kaisheng Huang. and Wei Zhong.},
title={Lane-changing Decision-making using Single-step Deep Q Network},
booktitle={Proceedings of the International Symposium on Frontiers of Intelligent Transport System - FITS},
year={2020},
pages={25-32},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010009600250032},
isbn={978-989-758-465-7},
}

TY - CONF

JO - Proceedings of the International Symposium on Frontiers of Intelligent Transport System - FITS
TI - Lane-changing Decision-making using Single-step Deep Q Network
SN - 978-989-758-465-7
AU - Song, Y.
AU - Huang, K.
AU - Zhong, W.
PY - 2020
SP - 25
EP - 32
DO - 10.5220/0010009600250032
PB - SciTePress

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