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Perception Enhanced Deep Deterministic Policy Gradient for Autonomous Driving in Complex Scenarios

Computer Modeling in Engineering & Sciences 2024年第7期140卷 557-576页

作者： Lyuchao Liao Hankun Xiao Pengqi Xing Zhenhua Gan Youpeng He Jiajun Wang Fujian Provincial Key Laboratory of Automotive Electronics and Electric Drive Fujian University of TechnologyFuzhou350118China Fujian Provincial Universities Engineering Research Center for Intelligent Driving Technology Fuzhou350118China

Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical *** particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous *** address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the ***,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make ***,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput *** experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.

关键词： Autonomous driving traffic roundabouts deep deterministic policy gradient spatial attention mechanisms

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