# Reinforcement Learning for Joint V2I Network Selection and Autonomous Driving Policies

arXiv: https://arxiv.org/abs/2208.02249 · HTML: https://mlsanity.com/paper/2208.02249/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 6 of its 18 references that are in the map.
- First posted on arXiv 3 Aug 2022.

## Placed in

- End-to-end autonomous driving / [Cooperative and V2X driving](https://mlsanity.com/driving/cooperative-and-v2x-driving/)

## Builds on (most cited first, 6 of 6)

- [Sigmoid-Weighted Linear Units for Neural Network Function Approximation in Reinforcement Learning](https://mlsanity.com/paper/1702.03118/) (2017)
- [Deep Reinforcement Learning Based Mode Selection and Resource Allocation for Cellular V2X Communications](https://mlsanity.com/paper/2002.05485/) (2020)
- [Deep Unsupervised Learning for Generalized Assignment Problems: A Case-Study of User-Association in Wireless Networks](https://mlsanity.com/paper/2103.14548/) (2021)
- [Mobility-Aware Performance in Hybrid RF and Terahertz Wireless Networks](https://mlsanity.com/paper/2112.10249/) (2021)
- [Interference and Coverage Analysis in Coexisting RF and Dense TeraHertz Wireless Networks](https://mlsanity.com/paper/2006.08778/) (2020)
- [V2X-Based Vehicular Positioning: Opportunities, Challenges, and Future Directions](https://mlsanity.com/paper/1908.04606/) (2019)

## Built on by (most cited first, 7 of 7)

- [Multi-UAV Speed Control with Collision Avoidance and Handover-aware Cell Association: DRL with Action Branching](https://mlsanity.com/paper/2307.13158/) (2023)
- [Generalized Multi-Objective Reinforcement Learning with Envelope Updates in URLLC-enabled Vehicular Networks](https://mlsanity.com/paper/2405.11331/) (2024)
- [Hierarchical and Collaborative LLM-Based Control for Multi-UAV Motion and Communication in Integrated Terrestrial and Non-Terrestrial Networks](https://mlsanity.com/paper/2506.06532/) (2025)
- [CVaR-Based Variational Quantum Optimization for User Association in Handoff-Aware Vehicular Networks](https://mlsanity.com/paper/2501.08418/) (2025)
- [Optimizing Vehicular Networks with Variational Quantum Circuits-based Reinforcement Learning](https://mlsanity.com/paper/2405.18984/) (2024)
- [Hierarchical LLM-Driven Control for HAPS-Assisted UAV Networks: Joint Optimization of Flight and Connectivity](https://mlsanity.com/paper/2605.11509/) (2026)
- [Intelligent Multi-UAV Navigation in ITNTNs: A Hierarchical LLM Approach](https://mlsanity.com/paper/2607.18604/) (2026)

## Abstract (arXiv)

Vehicle-to-Infrastructure (V2I) communication is becoming critical for the enhanced reliability of autonomous vehicles (AVs). However, the uncertainties in the road-traffic and AVs' wireless connections can severely impair timely decision-making. It is thus critical to simultaneously optimize the AVs' network selection and driving policies in order to minimize road collisions while maximizing the communication data rates. In this paper, we develop a reinforcement learning (RL) framework to characterize efficient network selection and autonomous driving policies in a multi-band vehicular network (VNet) operating on conventional sub-6GHz spectrum and Terahertz (THz) frequencies. The proposed framework is designed to (i) maximize the traffic flow and minimize collisions by controlling the vehicle's motion dynamics (i.e., speed and acceleration) from autonomous driving perspective, and (ii) maximize the data rates and minimize handoffs by jointly controlling the vehicle's motion dynamics and network selection from telecommunication perspective. We cast this problem as a Markov Decision Process (MDP) and develop a deep Q-learning based solution to optimize the actions such as acceleration, deceleration, lane-changes, and AV-base station assignments for a given AV's state. The AV's state is defined based on the velocities and communication channel states of AVs. Numerical results demonstrate interesting insights related to the inter-dependency of vehicle's motion dynamics, handoffs, and the communication data rate. The proposed policies enable AVs to adopt safe driving behaviors with improved connectivity.