Learning When to Drive in Intersections by Combining Reinforcement Learning and Model Predictive Control
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Abstract (arXiv)
In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision module based on reinforcement learning, and a low-level planning module based on model predictive control. Traffic is simulated with numerous predefined driver behaviors and intentions, and the performance of the proposed decision algorithm was evaluated against another controller. The results show that the proposed decision algorithm yields shorter training episodes and an increased performance in success rate compared to the other controller.
Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Aug 2019.
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Citing papers per year: 2021: 3; 2022: 1; 2023: 0; 2024: 1; 2025: 3.
8 papers.
- 2021A Survey of Deep RL and IL for Autonomous Driving Policy Learningcited by 59
- 2025Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classificationcited by 19
- 2022State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersectionscited by 15
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarioscited by 7
- 2024Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersectionscited by 4
- 2025Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersectionscited by 4
- 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspectivecited by 2
- 2021High-level Decisions from a Safe Maneuver Catalog with Reinforcement Learning for Safe and Cooperative Automated Mergingcited by 1
- 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspective31 Mar 2025
- 2025Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersections6 Feb 2025
- 2025Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification4 Feb 2025
- 2024Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections29 Nov 2024
- 2022State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersections10 Jul 2022
- 2021High-level Decisions from a Safe Maneuver Catalog with Reinforcement Learning for Safe and Cooperative Automated Merging15 Jul 2021
- 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios9 Jul 2021
- 2021A Survey of Deep RL and IL for Autonomous Driving Policy Learning6 Jan 2021