基于分层强化学习的自动驾驶车辆掉头问题研究.

The U-turn task is one of the contents of autonomous driving research, and most of the solutions under the standard roads in cities cannot be implemented on non-standard roads. Aiming at solving this problem, this paper establishes a vehicle U-turn dynamical model and designs a multi-scale convolutional neural network to extract feature maps as the input of the agent. In addition, for the sparse reward problem in the U-turn task, this paper proposes a hierarchical proximal policy optimization algorithm that combines hierarchical reinforcement learning and proximal policy optimization algorithm. In experiments with simple and complex scenarios, this algorithm learns policies faster and has a higher success rate of U-turn compared to other algorithms. [ABSTRACT FROM AUTHOR]