Centralized cooperative control for autonomous vehicles at unsignalized all-directional intersections: A multi-agent projection-based constrained policy optimization approach

Rui Zhao, Kui Wang, Yun Li, Yuze Fan, Fei Gao, Zhenhai Gao

Abstract: Highlights•Created a safe RL formulation, CMG, to model CAVs control at intersections.•Launched central MAPCPO for CMG, adapting RL to safety and boosting performance.•Designed an LSTM-based network with a queue to encode dynamic traffic flow.•Simulations prove our method surpasses classical control and non-safety-aware RL.