Real-time Cooperative Vehicle Coordination at Unsignalized Road Intersections
Автор: Tingting Zhang
Загружено: 2022-05-02
Просмотров: 280
Описание:
This is a demonstration of our recent piece of work, which has been submitted to the IEEE TITS.
We present a dedicated intersection coordination framework, where the involved vehicles will follow instructions from a centralized coordinator. We formulate this non-convex sequential decision problem into a model-free Markov Decision Process (MDP) and tackle it by devising a Twin Delayed Deep Deterministic Policy Gradient (TD3)-based strategy in the deep reinforcement learning (DRL) framework. Simulation and practical experiments show that the proposed strategy could achieve near-optimal performance in sub-static coordination scenarios and significantly improve the traffic throughput in the realistic continuous traffic flow. The most remarkable advantage is that our strategy could reduce the time complexity of computation to milliseconds, and is shown scalable when the road lanes increase.
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