Reinforcement-Learning-Based Decision and Control for Autonomous Vehicle at Two-Way Single-Lane Unsignalized Intersection

Abstract

Intersections have attracted wide attention owing to their complexity and high rate of traffic accidents. In the process of developing L3-and-above autonomous-driving techniques, it is necessary to solve problems in autonomous driving decisions and control at intersections. In this article, a decision-and-control method based on reinforcement learning and speed prediction is proposed to manage the conjunction of straight and turning vehicles at two-way single-lane unsignalized intersections. The key position of collision avoidance in the process of confluence is determined by establishing a road-geometry model, and on this basis, the expected speed of the straight vehicle that ensures passing safety is calculated. Then, a reinforcement-learning algorithm is employed to solve the decision-control problem of the straight vehicle, and the expected speed is optimized to direct the agent to learn and converge to the planned decision. Simulations were conducted to verify the performance of the proposed method, and the results show that the proposed method can generate proper decisions for the straight vehicle to pass the intersection while guaranteeing preferable safety and traffic efficiency.