Abstract
Adaptive cruise control (ACC) seeks intelligent and adaptive methods for longitudinal control of the cars. Since more than a decade, high-end cars have been equipped with ACC typically through carefully designed model-based controllers. Unlike the traditional ACC, we propose a reinforcement learning based approach – RL-ACC. We present the RL-ACC and its experimental results from the automotive-grade car simulators. Thus, we obtain a controller which requires minimal domain knowledge, is intuitive in its design, can accommodate uncertainties, can mimic human-like behaviour and may enable human-trust in the automated system. All these aspects are crucial for a fully autonomous car and we believe reinforcement learning based ACC is a step towards that direction.
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Notes
- 1.
The vehicle is equipped with both long and short range radars with limits [80, 240] and [0.2 100] m respectively. Unlike the problems like parking, the ACC does not require very close range detection. Here, sensor fusion is used to homogenise the readings from both the radars.
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Pathak, S., Bag, S., Nadkarni, V. (2019). A Generalised Method for Adaptive Longitudinal Control Using Reinforcement Learning. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_37
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