@article{Chen2024, 
author = {Xue-Mei Chen and Shu-Yuan Xu and Zi-Jia Wang and Xue-Long Zheng and Xin-Tong Han and En-Hao Liu},
title = {A Decision-Making Model for Autonomous Vehicles at Intersections Based on Hierarchical Reinforcement Learning},
year = {2024},
journal = {Unmanned Systems},
volume = {12},
number = {4},
pages = {641-652},
keywords = {Autonomous vehicles, decision-making model, deep deterministic policy gradient, hierarchical reinforcement learning, urban intersections},
url = {https://www.sciopen.com/article/10.1142/S2301385024500122},
doi = {10.1142/S2301385024500122},
abstract = {By aiming at addressing the left-turning problem of an autonomous vehicle considering the oncoming vehicles at an urban unsignallized intersection, a hierarchical reinforcement learning is proposed and a two-layer model is established to study behaviors of left-turning driving. Compared with the conventional decision-making models with a fixed path, the proposed multi-paths decision-making algorithm with horizontal and vertical strategies can improve the efficiency of autonomous vehicles crossing intersections while ensuring safety.}
}