The urgent need for both safety and high-performance in the motion planning and decision-making system of the autonomous vehicle presents a significant challenge for learning-based technologies. In this paper, we introduces a lane-keeping control structure that combines reinforcement learning and a predictive safety filter to ensure the vehicle’s safety motion. A vehicle agent under the racetrack environment is trained by the soft actor critic algorithm, to achieve high-performance continuous lane-keeping motion. Additionally, we establish the safety task for lane-keeping, which results in a learning-based safety filter, to avoid violation of driving on the outer lane. Through simulations, we demonstrate the effectiveness of our method in ensuring the safe and trustworthy control of autonomous vehicle lane-keeping.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lane-keeping Control of Autonomous Vehicles Using Reinforcement Learning and Predictive Safety Filter *


    Beteiligte:
    Cheng, Yifan (Autor:in) / Wang, Heng (Autor:in) / Chu, Hongqing (Autor:in) / Yu, Liyang (Autor:in) / Gao, Bingzhao (Autor:in) / Chen, Hong (Autor:in)


    Erscheinungsdatum :

    2023-10-27


    Format / Umfang :

    1803196 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    LANE KEEPING FOR AUTONOMOUS VEHICLES

    HARDÅ PETER / WESTLUND MATHIAS | Europäisches Patentamt | 2021

    Freier Zugriff

    Lane keeping for autonomous vehicles

    HARDA PETER / WESTLUND MATHIAS | Europäisches Patentamt | 2021

    Freier Zugriff

    Reinforcement Learning-Based Predictive Control for Autonomous Electrified Vehicles

    Liu, Teng / Yang, Chao / Hu, Chuanzheng et al. | IEEE | 2018


    Automated Lane Keeping Co-Pilot For Autonomous Vehicles

    SUNDARAM PADMA / KIM KEUN JAE / DEBOUK RAMI I et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Automated lane keeping co-pilot for autonomous vehicles

    SUNDARAM PADMA / KIM KEUN JAE / DEBOUK RAMI I et al. | Europäisches Patentamt | 2018

    Freier Zugriff