计算机应用研究2024，Vol.41Issue(7)：1965-1970,6.DOI:10.19734/j.issn.1001-3695.2023.10.0570
基于GA-TD3算法的交叉路口决策模型
Intersection decision model based on GA-TD3 algorithm
摘要
Abstract
Addressing problems such as low success rates,instability,and inefficient traffic flow in autonomous decision-making models at intersections,this paper proposed an intersection decision model based on the GA-TD3(GRU attention twin delayed deep deterministic policy gradient)algorithm by improving TD3 algorithm from two aspects.Firstly,it introduced a memory module which using GRU neural network to improve the success rate of the decision model.Secondly,it introduced a social attention mechanism in the state space to focus on interactions with social vehicles,which ensured the stability of the model while improving the traffic efficiency of vehicles.After 20 000 rounds of training in the CARLA simulator,the TD3 al-gorithm achieves a success rate of 92.4％,while the success rate of the GA-TD3 algorithm is 97.6％.Additionally,the vehi-cle's travel time is shortened by 3.36 s.GA-TD3 algorithm improves both learning efficiency and traffic efficiency,which can alleviate traffic pressure in urban scenes and improve driving efficiency.关键词
深度强化学习/无人驾驶决策/交叉路口/循环神经网络/注意力机制Key words
deep reinforcement learning/autonomous driving decision/intersection scenario/recurrent neural network/attention mechanism分类
信息技术与安全科学引用本文复制引用
江安旎,杜煜,原颖,张昊,赵世昕..基于GA-TD3算法的交叉路口决策模型[J].计算机应用研究,2024,41(7):1965-1970,6.基金项目
国家自然科学基金(面上)项目(52072213) （面上）
北京市教育委员会科研计划资助项目(KM202311417006) （KM202311417006）
北京市朝阳区科技局项目资助项目(纵20200028) （纵20200028）
