Abstract
Navigating roundabouts is a complex driving scenario for both manual and autonomous vehicles. This paper proposes an approach based on the use of the Q-learning algorithm to train an autonomous vehicle agent to learn how to appropriately navigate roundabouts. The proposed learning algorithm is implemented using the CARLA simulation environment. Several simulations are performed to train the algorithm in two scenarios: navigating a roundabout with and without surrounding traffic. The results illustrate that the Q-learning-algorithm-based vehicle agent is able to learn smooth and efficient driving to perform maneuvers within roundabouts.
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Cited by
47 articles.
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