Decision-Making System for Lane Change Using Deep Reinforcement Learning in Connected and Automated Driving

Abstract

Lane changing systems have consistently received attention in the fields of vehicular communication and autonomous vehicles. In this paper, we propose a lane change system that combines deep reinforcement learning and vehicular communication. A host vehicle, trying to change lanes, receives the state information of the host vehicle and a remote vehicle that are both equipped with vehicular communication devices. A deep deterministic policy gradient learning algorithm in the host vehicle determines the high-level action of the host vehicle from the state information. The proposed system learns straight-line driving and collision avoidance actions without vehicle dynamics knowledge. Finally, we consider the update period for the state information from the host and remote vehicles.

Keywords

• lane change
• decision-making system
• vehicular communication
• deep reinforcement learning
• collision avoidance
• connected and automated vehicle