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arXiv · 2103.03796

Hybrid Car-Following Strategy based on Deep Deterministic Policy Gradient and Cooperative Adaptive Cruise Control

Ruidong Yan·Rui Jiang·Bin Jia·Jin Huang·Diange Yang
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Abstract

Deep deterministic policy gradient (DDPG)-based car-following strategy can break through the constraints of the differential equation model due to the ability of exploration on complex environments. However, the car-following performance of DDPG is usually degraded by unreasonable reward function design, insufficient training, and low sampling efficiency. In order to solve this kind of problem, a hybrid car-following strategy based on DDPG and cooperative adaptive cruise control (CACC) is proposed. First, the car-following process is modeled as the Markov decision process to calculate CACC and DDPG simultaneously at each frame. Given a current state, two actions are obtained from CACC and DDPG, respectively. Then, an optimal action, corresponding to the one offering a larger reward, is chosen as the output of the hybrid strategy. Meanwhile, a rule is designed to ensure that the change rate of acceleration is smaller than the desired value. Therefore, the proposed strategy not only guarantees the basic performance of car-following through CACC but also makes full use of the advantages of exploration on complex environments via DDPG. Finally, simulation results show that the car-following performance of the proposed strategy is improved compared with that of DDPG and CACC.

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Ruidong Yan, Rui Jiang, Bin Jia, Jin Huang, Diange Yang. 2021-02-24. Hybrid Car-Following Strategy based on Deep Deterministic Policy Gradient and Cooperative Adaptive Cruise Control. https://doi.org/10.1109/tase.2021.3100709

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