In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses significant challenges, particularly in dynamic scenarios, such as multi-lane highways and unsignalized T-intersections. To address this gap, we design a bi-level interaction decision-making algorithm (BIDA) that integrates interactive Monte Carlo tree search (MCTS) with deep reinforcement learning (DRL), aiming to enhance interaction rationality, efficiency and safety of AVs in dynamic key traffic scenarios. Specifically, we adopt three types of DRL algorithms to construct a reliable value network and policy network, which guide the online deduction process of interactive MCTS by assisting in value update and node selection. Then, a dynamic trajectory planner and a trajectory tracking controller are designed and implemented in CARLA to ensure smooth execution of planned maneuvers. Experimental evaluations demonstrate that our BIDA not only enhances interactive deduction and reduces computational costs, but also outperforms other latest benchmarks, which exhibits superior safety, efficiency and interaction rationality under varying traffic conditions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    BIDA: A Bi-Level Interaction Decision-Making Algorithm for Autonomous Vehicles in Dynamic Traffic Scenarios


    Contributors:
    Yu, Liyang (author) / Wang, Tianyi (author) / Jiao, Junfeng (author) / Shan, Fengwu (author) / Chu, Hongqing (author) / Gao, Bingzhao (author)


    Publication date :

    2025-06-22


    Size :

    1831361 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Traffic-Rule-Compliant Decision-Making in Dynamic Traffic Scenarios

    PARK CHUNKI / ULMER BENJAMIN / KLEINDIECK JAN et al. | European Patent Office | 2023

    Free access

    Souvenirs sur Alexandre Bida

    Paris, Gaston | DataCite | 1895


    Traffic-rule-compliant decision-making in dynamic traffic scenarios

    PARK CHUNKI / ULMER BENJAMIN / KLEINDIECK JAN et al. | European Patent Office | 2024

    Free access

    Interaction-Aware Decision-Making for Autonomous Vehicles

    Chen, Yongli / Li, Shen / Tang, Xiaolin et al. | IEEE | 2023