Flow: A Modular Learning Framework for Mixed Autonomy Traffic

نویسندگان

چکیده

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression these impacts, as AVs are adopted, is not well understood. Numerous technical challenges arise from goal analyzing partial adoption autonomy: control observation, multivehicle interactions, sheer variety scenarios represented by real-world networks. To shed light into near-term AV this article studies suitability deep xmlns:xlink="http://www.w3.org/1999/xlink">reinforcement learning (RL) overcoming in a low AV-adoption regime. A modular learning framework presented, which leverages RL address complex traffic dynamics. Modules composed capture common phenomena (stop-and-go jams, lane changing, intersections). Learned laws found improve upon human driving performance, terms system-level velocity, up 57% with only 4–7% AVs. Furthermore, single-lane traffic, small neural network law local observation eliminate stop-and-go traffic—surpassing all known model-based controllers achieve near-optimal performance—and generalize out-of-distribution densities.

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ژورنال

عنوان ژورنال: IEEE Transactions on Robotics

سال: 2022

ISSN: ['1552-3098', '1941-0468', '1546-1904']

DOI: https://doi.org/10.1109/tro.2021.3087314