Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning
Zhiqian Qiao Jeff Schneider John M. Dolan Zhiqian Qiao Jeff Schneider John M. Dolan
For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human drivers find difficult. In this work, we propose a behavior planning structure based on reinforcement learning (RL) which is capable of performing autonomous vehi...