mlsanityData to 7 Oct 2026

Tactical Decision Making for Autonomous Trucks by Deep Reinforcement Learning with Total Cost of Operation Based Reward

arXiv 2403.06524 ↗First posted 11 Mar 2024cs.LG cs.AI cs.ROcited by 3

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Abstract (arXiv)

We develop a deep reinforcement learning framework for tactical decision making in an autonomous truck, specifically for Adaptive Cruise Control (ACC) and lane change maneuvers in a highway scenario. Our results demonstrate that it is beneficial to separate high-level decision-making processes and low-level control actions between the reinforcement learning agent and the low-level controllers based on physical models. In the following, we study optimizing the performance with a realistic and multi-objective reward function based on Total Cost of Operation (TCOP) of the truck using different approaches; by adding weights to reward components, by normalizing the reward components and by using curriculum learning techniques.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 12 of its 36 references that are in the map. First posted on arXiv 11 Mar 2024.

Builds on

12 of 36 references.

References · 12

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,635
  3. 2016Asynchronous Methods for Deep Reinforcement Learningcited by 2,218
  4. 2020Deep Reinforcement Learning for Autonomous Driving: A Surveycited by 698
  5. 2020Curriculum Learning for Reinforcement Learning Domains: A Framework and Surveycited by 350
  6. 2016Safe, Multi-Agent, Reinforcement Learning for Autonomous Drivingcited by 301
  7. 2017Deep Reinforcement Learning framework for Autonomous Drivingcited by 224
  8. 2021Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learningcited by 41
  9. 2019Comparison of Deep Reinforcement Learning and Model Predictive Control for Adaptive Cruise Controlcited by 19
  10. 2020Tactical Decision-Making in Autonomous Driving by Reinforcement Learning with Uncertainty Estimationcited by 14
  11. 2023Utilizing Reinforcement Learning for de novo Drug Designcited by 7
  12. 2021SAINT-ACC: Safety-Aware Intelligent Adaptive Cruise Control for Autonomous Vehicles Using Deep Reinforcement Learningcited by 6

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 3.

3 papers.

  1. 2026Pedestrian-Aware LLM-Driven Behavioral Planning for Autonomous Vehiclescited by 1
  2. 2026Multi-Objective Reinforcement Learning for Tactical Decision Making for Trucks in Highway Trafficcited by 0
  3. 2026Decoupling Task and Behavior: A Two-Stage Reward Curriculum in Reinforcement Learning for Roboticscited by 0