Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries
This study investigates deep reinforcement learning (DRL) mechanisms for achieving cooperative driving control of connected autonomous vehicles (CAVs) on lane-free roads. This study investigates the effectiveness of each of the two methods proposed in our conference paper to verify whether the best...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2025-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
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| Online Access: | http://dx.doi.org/10.1080/18824889.2025.2508016 |
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| _version_ | 1850117976876908544 |
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| author | Reo Nakaya Tomohiro Harada Yukiya Miura Kiyohiko Hattori Johei Matsuoka |
| author_facet | Reo Nakaya Tomohiro Harada Yukiya Miura Kiyohiko Hattori Johei Matsuoka |
| author_sort | Reo Nakaya |
| collection | DOAJ |
| description | This study investigates deep reinforcement learning (DRL) mechanisms for achieving cooperative driving control of connected autonomous vehicles (CAVs) on lane-free roads. This study investigates the effectiveness of each of the two methods proposed in our conference paper to verify whether the best performance is achieved when both methods are incorporated. This study also evaluates the generalization performance of training models by conducting driving tests on several test courses to see if the training models can be adapted to courses other than the training course. In addition, this study proposed improvement in the use of course direction information to enhance the generalization performance of the training models. The result shows the proposed improvement can increase the generalizability of the trained model and the efficiency of vehicle flow. |
| format | Article |
| id | doaj-art-4339d8ccd8544ba7a175e836ccf9dca6 |
| institution | OA Journals |
| issn | 1884-9970 |
| language | English |
| publishDate | 2025-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj-art-4339d8ccd8544ba7a175e836ccf9dca62025-08-20T02:35:59ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702025-12-0118110.1080/18824889.2025.25080162508016Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometriesReo Nakaya0Tomohiro Harada1Yukiya Miura2Kiyohiko Hattori3Johei Matsuoka4Tokyo Metropolitan UniversitySaitama UniversityTokyo Metropolitan UniversityTokyo Denki UniversityTokyo University of TechnologyThis study investigates deep reinforcement learning (DRL) mechanisms for achieving cooperative driving control of connected autonomous vehicles (CAVs) on lane-free roads. This study investigates the effectiveness of each of the two methods proposed in our conference paper to verify whether the best performance is achieved when both methods are incorporated. This study also evaluates the generalization performance of training models by conducting driving tests on several test courses to see if the training models can be adapted to courses other than the training course. In addition, this study proposed improvement in the use of course direction information to enhance the generalization performance of the training models. The result shows the proposed improvement can increase the generalizability of the trained model and the efficiency of vehicle flow.http://dx.doi.org/10.1080/18824889.2025.2508016deep reinforcement learningautomated drivingcooperative controlroundaboutlane-free |
| spellingShingle | Reo Nakaya Tomohiro Harada Yukiya Miura Kiyohiko Hattori Johei Matsuoka Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries SICE Journal of Control, Measurement, and System Integration deep reinforcement learning automated driving cooperative control roundabout lane-free |
| title | Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries |
| title_full | Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries |
| title_fullStr | Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries |
| title_full_unstemmed | Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries |
| title_short | Cooperative autonomous vehicle control with deep reinforcement learning in lane-free roundabouts and its adaptability to various geometries |
| title_sort | cooperative autonomous vehicle control with deep reinforcement learning in lane free roundabouts and its adaptability to various geometries |
| topic | deep reinforcement learning automated driving cooperative control roundabout lane-free |
| url | http://dx.doi.org/10.1080/18824889.2025.2508016 |
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