A New Approach for Tactical Decision Making in Lane Changing: Sample Efficient Deep Q Learning with a Safety Feedback Reward

24 Sep 2020 M. Ugur Yavas N. Kemal Ure Tufan Kumbasar

Automated lane change is one of the most challenging task to be solved of highly automated vehicles due to its safety-critical, uncertain and multi-agent nature. This paper presents the novel deployment of the state of art Q learning method, namely Rainbow DQN, that uses a new safety driven rewarding scheme to tackle the issues in an dynamic and uncertain simulation environment... (read more)

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Methods used in the Paper

Off-Policy TD Control
Dense Connections
Feedforward Networks
N-step Returns
Value Function Estimation
Noisy Linear Layer
Randomized Value Functions
Double Q-learning
Off-Policy TD Control
Q-Learning Networks
Dueling Network
Q-Learning Networks
Prioritized Experience Replay
Replay Memory
Rainbow DQN
Q-Learning Networks