HR-Planner: A Hierarchical Highway Tactical Planner based on Residual Reinforcement Learning
Haoran Wu,Yueyuan Li,Hanyang Zhuang,Chunxiang Wang,Ming Yang,Haoran Wu,Yueyuan Li,Hanyang Zhuang,Chunxiang Wang,Ming Yang
Tactical planning is crucial for safe and efficient driving on the highway. However, the problem is complicated by the uncertain intention of surrounding vehicles, as well as observation noise caused by measurement noise and perception errors. Rule-based tactical planning methods are ineffective in handling dynamic scenarios with uncertainty, and susceptible to observation noise. To tackle this pr...
