Hierarchical Reinforcement Learning Method for Autonomous Vehicle Behavior Planning
Zhiqian Qiao,Zachariah Tyree,Priyantha Mudalige,Jeff Schneider,John M. Dolan,Zhiqian Qiao,Zachariah Tyree,Priyantha Mudalige,Jeff Schneider,John M. Dolan
Behavioral decision making is an important aspect of autonomous vehicles (AV). In this work, we propose a behavior planning structure based on hierarchical reinforcement learning (HRL) which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network is capable of 1) learning one task with multiple sub-go...
