Research on automatic vehicle lane changing model based on MASAC-discrete algorithm

Qi Liu; Xiaohui Hu; Shaobing Li

doi:10.1117/12.3004627

16 August 2023 Research on automatic vehicle lane changing model based on MASAC-discrete algorithm

Qi Liu, Xiaohui Hu, Shaobing Li

Proceedings Volume 12787, Sixth International Conference on Advanced Electronic Materials, Computers, and Software Engineering (AEMCSE 2023); 127872F (2023) https://doi.org/10.1117/12.3004627
Event: 6th International Conference on Advanced Electronic Materials, Computers and Software Engineering (AEMCSE 2023), 2023, Shenyang, China

Abstract

Reinforcement learning has great potential in solving complex decision-making problems in autonomous driving, especially in traffic scenarios where autonomous and human driving vehicles are mixed. This article describes the lane changing problem of mixed traffic expressway vehicles as a multi-agent reinforcement learning problem, in which autonomous vehicles learn a strategy adapted to human driving vehicles through collaboration to maximize traffic throughput. This article extends the SAC-Discrete algorithm to the multi-agent reinforcement learning framework and proposes the MASAC-Discrete algorithm. In addition, this article also proposes a motion prediction safety controller that includes a motion predictor and motion replacement module to ensure driving safety during training and testing. This article trains, evaluates, and tests the proposed method on a highway simulator under three different levels of traffic modes. The simulation results show that even in high traffic density situations, this method can significantly reduce collision rates while maintaining high efficiency. In the considered highway scenarios, its performance is superior to several state-of-theart benchmark algorithms.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Qi Liu, Xiaohui Hu, and Shaobing Li "Research on automatic vehicle lane changing model based on MASAC-discrete algorithm", Proc. SPIE 12787, Sixth International Conference on Advanced Electronic Materials, Computers, and Software Engineering (AEMCSE 2023), 127872F (16 August 2023); https://doi.org/10.1117/12.3004627

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