Intelligent Roundabout Insertion using Deep Reinforcement Learning

Alessandro Capasso, Giulio Bacchiani, Daniele Molinari

2020

Abstract

An important topic in the autonomous driving research is the development of maneuver planning systems. Vehicles have to interact and negotiate with each other so that optimal choices, in terms of time and safety, are taken. For this purpose, we present a maneuver planning module able to negotiate the entering in busy roundabouts. The proposed module is based on a neural network trained to predict when and how entering the roundabout throughout the whole duration of the maneuver. Our model is trained with a novel implementation of A3C, which we will call Delayed A3C (D-A3C), in a synthetic environment where vehicles move in a realistic manner with interaction capabilities. In addition, the system is trained such that agents feature a unique tunable behavior, emulating real world scenarios where drivers have their own driving styles. Similarly, the maneuver can be performed using different aggressiveness levels, which is particularly useful to manage busy scenarios where conservative rule-based policies would result in undefined waits.

Paper Citation

in Harvard Style

Capasso A., Bacchiani G. and Molinari D. (2020). Intelligent Roundabout Insertion using Deep Reinforcement Learning. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-395-7, pages 378-385. DOI: 10.5220/0008915003780385

in Bibtex Style

@conference{icaart20,
author={Alessandro Capasso and Giulio Bacchiani and Daniele Molinari},
title={Intelligent Roundabout Insertion using Deep Reinforcement Learning},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2020},
pages={378-385},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008915003780385},
isbn={978-989-758-395-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Intelligent Roundabout Insertion using Deep Reinforcement Learning
SN - 978-989-758-395-7
AU - Capasso A.
AU - Bacchiani G.
AU - Molinari D.
PY - 2020
SP - 378
EP - 385
DO - 10.5220/0008915003780385