arXiv:2606. 09958v1 Announce Type: cross Abstract: In mixed-traffic environments where autonomous and human-driven vehicles may co-exist, motion planning for autonomous vehicles requires anticipating the future behaviors of surrounding human drivers.
By Ming Cheng, Hao Chen, Ziyi Yang, Ziluowen Luo, Senzhang Wang
MPCFormer is a physics‑informed, data‑driven framework that explicitly models multi‑vehicle social interaction dynamics for autonomous driving. It uses a Transformer‑based encoder‑decoder to learn discrete state‑space dynamics from naturalistic data, enabling explainable, human‑like behavior planning within a Model Predictive Control (MPC) framework. In open‑loop NGSIM tests, it achieves the lowest trajectory prediction errors (ADE 0.86 m over 5 s), and in closed‑loop intense interaction scenarios it attains a 94.67 % planning success rate, 15.75 % efficiency gain, and reduces collisions from 21.25 % to 0.5 %.
By Jia Hu, Zhexi Lian, Xuerun Yan, Ruiang Bi, Dou Shen, Yu Ruan, Chunlong Xia, Haoran Wang
arXiv:2601.01762v4 Announce Type: replace-cross
Abstract: Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes....
By Yanhao Wu, Haoyang Zhang, Fei He, Rui Wu, Yanhu Shan, Congpei Qiu, Liang Gao, Wei Ke, Tong Zhang
arXiv:2408.15538v4 Announce Type: replace
Abstract: While modern Autonomous Vehicle (AV) systems can develop reliable driving policies under regular traffic conditions, they frequently struggle with...
By Guanren Qiao, Guorui Quan, Jiawei Yu, Shujun Jia, Guiliang Liu
The paper presents a modeling and simulation framework to study reinforcement‑learning control of connected and automated vehicle (CAV) platoon joining maneuvers in mixed traffic. It evaluates Deep Q‑Network, Double Deep Q‑Network, and Proximal Policy Optimization algorithms, finding that PPO achieves a 98 % joining success rate with less than 1 % collisions by incorporating risk penalties, though it requires more decision steps. An external safety controller can prevent collisions but may reduce joining efficiency, highlighting a trade‑off between safety, effectiveness, and decision speed.
The paper presents a modeling and simulation framework to study reinforcement learning (RL) control of connected and automated vehicle (CAV) platoon joining maneuvers in mixed traffic. Using SUMO and agent-based modeling, it evaluates Deep Q-Network (DQN), Double DQN (DDQN), and Proximal Policy Optimization (PPO) algorithms, finding that PPO achieves a 98 % joining success rate with less than 1 % collision rate by incorporating risk penalties. The study also shows a trade‑off between safety, joining effectiveness, and decision efficiency, and demonstrates that an external safety controller can prevent collisions but may reduce joining efficiency.
By Biao Yin, Abderrahmane Kasmi, Nadir Farhi