Learning Negotiating Behavior Between Cars in Intersections using Deep Q-Learning
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Abstract (arXiv)
This paper concerns automated vehicles negotiating with other vehicles, typically human driven, in crossings with the goal to find a decision algorithm by learning typical behaviors of other vehicles. The vehicle observes distance and speed of vehicles on the intersecting road and use a policy that adapts its speed along its pre-defined trajectory to pass the crossing efficiently. Deep Q-learning is used on simulated traffic with different predefined driver behaviors and intentions. The results show a policy that is able to cross the intersection avoiding collision with other vehicles 98% of the time, while at the same time not being too passive. Moreover, inferring information over time is important to distinguish between different intentions and is shown by comparing the collision rate between a Deep Recurrent Q-Network at 0.85% and a Deep Q-learning at 1.75%.
Key facts. Cited by 13 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Oct 2018.
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Citing papers per year: 2021: 8; 2022: 1; 2023: 1; 2024: 2; 2025: 1.
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- 2021Ensemble Quantile Networks: Uncertainty-Aware Reinforcement Learning with Applications in Autonomous Drivingcited by 17
- 2021Resilient Machine Learning for Networked Cyber Physical Systems: A Survey for Machine Learning Security to Securing Machine Learning for CPScited by 10
- 2021Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learningcited by 8
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarioscited by 7
- 2022Multi-task Safe Reinforcement Learning for Navigating Intersections in Dense Trafficcited by 7
- 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarioscited by 4
- 2021Generalizing Decision Making for Automated Driving with an Invariant Environment Representation using Deep Reinforcement Learningcited by 3
- 2021Safe Deep Q-Network for Autonomous Vehicles at Unsignalized Intersectioncited by 3
- 2023Safe, Efficient, Comfort, and Energy-saving Automated Driving through Roundabout Based on Deep Reinforcement Learningcited by 3
- 2021Pedestrian Collision Avoidance for Autonomous Vehicles at Unsignalized Intersection Using Deep Q-Networkcited by 2
- 2024Applying Neural Monte Carlo Tree Search to Unsignalized Multi-intersection Scheduling for Autonomous Vehiclescited by 0
- 2024An End-to-End Collaborative Learning Approach for Connected Autonomous Vehicles in Occluded Scenarioscited by 0
- 2025Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections19 Jun 2025
- 2024An End-to-End Collaborative Learning Approach for Connected Autonomous Vehicles in Occluded Scenarios11 Dec 2024
- 2024Applying Neural Monte Carlo Tree Search to Unsignalized Multi-intersection Scheduling for Autonomous Vehicles24 Oct 2024
- 2023Safe, Efficient, Comfort, and Energy-saving Automated Driving through Roundabout Based on Deep Reinforcement Learning20 Jun 2023
- 2022Multi-task Safe Reinforcement Learning for Navigating Intersections in Dense Traffic19 Feb 2022
- 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarios22 Sep 2021
- 2021Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learning15 Jul 2021
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios9 Jul 2021
- 2021Safe Deep Q-Network for Autonomous Vehicles at Unsignalized Intersection8 Jun 2021
- 2021Ensemble Quantile Networks: Uncertainty-Aware Reinforcement Learning with Applications in Autonomous Driving21 May 2021
- 2021Pedestrian Collision Avoidance for Autonomous Vehicles at Unsignalized Intersection Using Deep Q-Network1 May 2021
- 2021Resilient Machine Learning for Networked Cyber Physical Systems: A Survey for Machine Learning Security to Securing Machine Learning for CPS14 Feb 2021
- 2021Ensemble Quantile Networks: Uncertainty-Aware Reinforcement Learning with Applications in Autonomous Drivingcited by 17
- 2021Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learningcited by 8
- 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarioscited by 4
- 2023Safe, Efficient, Comfort, and Energy-saving Automated Driving through Roundabout Based on Deep Reinforcement Learningcited by 3
- 2021Pedestrian Collision Avoidance for Autonomous Vehicles at Unsignalized Intersection Using Deep Q-Networkcited by 2
- 2024An End-to-End Collaborative Learning Approach for Connected Autonomous Vehicles in Occluded Scenarioscited by 0
- 2025Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersectionscited by 0
- 2025Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections19 Jun 2025
- 2024An End-to-End Collaborative Learning Approach for Connected Autonomous Vehicles in Occluded Scenarios11 Dec 2024
- 2023Safe, Efficient, Comfort, and Energy-saving Automated Driving through Roundabout Based on Deep Reinforcement Learning20 Jun 2023
- 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarios22 Sep 2021
- 2021Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learning15 Jul 2021
- 2021Ensemble Quantile Networks: Uncertainty-Aware Reinforcement Learning with Applications in Autonomous Driving21 May 2021
- 2021Pedestrian Collision Avoidance for Autonomous Vehicles at Unsignalized Intersection Using Deep Q-Network1 May 2021
- 2021Resilient Machine Learning for Networked Cyber Physical Systems: A Survey for Machine Learning Security to Securing Machine Learning for CPScited by 10
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarioscited by 7
- 2022Multi-task Safe Reinforcement Learning for Navigating Intersections in Dense Trafficcited by 7
- 2021Generalizing Decision Making for Automated Driving with an Invariant Environment Representation using Deep Reinforcement Learningcited by 3
- 2021Safe Deep Q-Network for Autonomous Vehicles at Unsignalized Intersectioncited by 3
- 2024Applying Neural Monte Carlo Tree Search to Unsignalized Multi-intersection Scheduling for Autonomous Vehiclescited by 0
- 2024Applying Neural Monte Carlo Tree Search to Unsignalized Multi-intersection Scheduling for Autonomous Vehicles24 Oct 2024
- 2022Multi-task Safe Reinforcement Learning for Navigating Intersections in Dense Traffic19 Feb 2022
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios9 Jul 2021
- 2021Safe Deep Q-Network for Autonomous Vehicles at Unsignalized Intersection8 Jun 2021
- 2021Resilient Machine Learning for Networked Cyber Physical Systems: A Survey for Machine Learning Security to Securing Machine Learning for CPS14 Feb 2021
- 2021Generalizing Decision Making for Automated Driving with an Invariant Environment Representation using Deep Reinforcement Learning12 Feb 2021