Algorithm Research & Explore
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3008-3012,3045

Research on autonomous vehicle U-turn problem based on hierarchical reinforcement learning

Cao Jie
Shao Zixuan
Hou Liang
Dept. of Computer & Communication, Lanzhou University of Technology, Lanzhou 730050, China

Abstract

The U-turn task is one of the contents of autonomous driving research, and most of the solutions under the standard roads in cities cannot be implemented on non-standard roads. Aiming at solving this problem, this paper established a vehicle U-turn dynamical model and designed a multi-scale convolutional neural network to extract feature maps as the input of the agent. In addition, for the sparse reward problem in the U-turn task, this paper proposed a hierarchical proximal policy optimization algorithm that combined hierarchical reinforcement learning and proximal policy optimization algorithm. In experiments with simple and complex scenarios, this algorithm learns policies faster and has a higher success rate of U-turn compared to other algorithms.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.03.0127
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 10
Section: Algorithm Research & Explore
Pages: 3008-3012,3045
Serial Number: 1001-3695(2022)10-019-3008-05

Publish History

[2022-06-07] Accepted Paper
[2022-10-05] Printed Article

Cite This Article

曹洁, 邵紫旋, 侯亮. 基于分层强化学习的自动驾驶车辆掉头问题研究 [J]. 计算机应用研究, 2022, 39 (10): 3008-3012,3045. (Cao Jie, Shao Zixuan, Hou Liang. Research on autonomous vehicle U-turn problem based on hierarchical reinforcement learning [J]. Application Research of Computers, 2022, 39 (10): 3008-3012,3045. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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