# Autonomous Navigation of Tractor-Trailer Vehicles through Roundabout Intersections

arXiv: https://arxiv.org/abs/2401.04980 · HTML: https://mlsanity.com/paper/2401.04980/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 32 references that are in the map.
- First posted on arXiv 10 Jan 2024.

## Builds on (most cited first, 9 of 9)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving](https://mlsanity.com/paper/2005.03778/) (2020)
- [Reward (Mis)design for Autonomous Driving](https://mlsanity.com/paper/2104.13906/) (2021)
- [Automated Speed and Lane Change Decision Making using Deep Reinforcement Learning](https://mlsanity.com/paper/1803.10056/) (2018)
- [Boosting Soft Actor-Critic: Emphasizing Recent Experience without Forgetting the Past](https://mlsanity.com/paper/1906.04009/) (2019)
- [Carl-Lead: Lidar-based End-to-End Autonomous Driving with Contrastive Deep Reinforcement Learning](https://mlsanity.com/paper/2109.08473/) (2021)
- [An Intelligent Self-driving Truck System For Highway Transportation](https://mlsanity.com/paper/2112.15304/) (2021)

## Built on by (most cited first, 1 of 1)

- [Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks](https://mlsanity.com/paper/2603.23711/) (2026)

## Abstract (arXiv)

In recent years, significant advancements have been made in the field of autonomous driving with the aim of increasing safety and efficiency. However, research that focuses on tractor-trailer vehicles is relatively sparse. Due to the physical characteristics and articulated joints, such vehicles require tailored models. While turning, the back wheels of the trailer turn at a tighter radius and the truck often has to deviate from the centre of the lane to accommodate this. Due to the lack of publicly available models, this work develops truck and trailer models using the high-fidelity simulation software CARLA, together with several roundabout scenarios, to establish a baseline dataset for benchmarks. Using a twin-q soft actor-critic algorithm, we train a quasi-end-to-end autonomous driving model which is able to achieve a 73% success rate on different roundabouts.