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Freeway Merging in Congested Traffic based on Multipolicy Decision Making with Passive Actor Critic
Tomoki Nishi, Prashant Doshi, Danil Prokhorov
Jun 06, 2017 (modified: Jun 22, 2017)ICML 2017 MLAV Submissionreaders: everyone
Abstract:Freeway merging in congested traffic is a significant challenge toward fully automated driving. Merging vehicles need to decide not only how to merge into a spot, but also where to merge. We present a method for the freeway merging based on multi-policy decision making with a reinforcement learning method called passive actor-critic (pAC), which learns with less knowledge of the system and without active exploration. The method selects a merging spot candidate by using the state value learned with pAC. We evaluate our method using real traffic data. Our experiments show that pAC achieves 92% success rate to merge into a freeway, which is comparable to human decision making.
TL;DR:We develop a freeway merging algorithm based on multipolicy decision making with a reinforcement learning algorithm.