# PPO-Based Vehicle Control for Ramp Merging Scheme Assisted by Enhanced C-V2X

arXiv: https://arxiv.org/abs/2501.12656 · HTML: https://mlsanity.com/paper/2501.12656/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 32 of its 91 references that are in the map.
- First posted on arXiv 22 Jan 2025.

## Builds on (most cited first, 30 of 32)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Age of Information: An Introduction and Survey](https://mlsanity.com/paper/2007.08564/) (2020)
- [Mobility-Aware Cooperative Caching in Vehicular Edge Computing Based on Asynchronous Federated and Deep Reinforcement Learning](https://mlsanity.com/paper/2208.01219/) (2022)
- [High stable and accurate vehicle selection scheme based on federated edge learning in vehicular networks](https://mlsanity.com/paper/2208.01890/) (2022)
- [Towards V2I Age-aware Fairness Access: A DQN Based Intelligent Vehicular Node Training and Test Method](https://mlsanity.com/paper/2208.01283/) (2022)
- [Delay-sensitive Task Offloading in Vehicular Fog Computing-Assisted Platoons](https://mlsanity.com/paper/2309.10234/) (2023)
- [URLLC-Awared Resource Allocation for Heterogeneous Vehicular Edge Computing](https://mlsanity.com/paper/2311.18352/) (2023)
- [AoI-Aware Resource Allocation for Platoon-Based C-V2X Networks via Multi-Agent Multi-Task Reinforcement Learning](https://mlsanity.com/paper/2105.04196/) (2021)
- [Graph Neural Networks and Deep Reinforcement Learning Based Resource Allocation for V2X Communications](https://mlsanity.com/paper/2407.06518/) (2024)
- [Semantic-Aware Spectrum Sharing in Internet of Vehicles Based on Deep Reinforcement Learning](https://mlsanity.com/paper/2406.07213/) (2024)
- [Semantic-Aware Resource Allocation Based on Deep Reinforcement Learning for 5G-V2X HetNets](https://mlsanity.com/paper/2406.07996/) (2024)
- [A Swarming Approach to Optimize the One-hop Delay in Smart Driving Inter-platoon Communications](https://mlsanity.com/paper/1807.07301/) (2018)
- [Knowledge-Driven Deep Learning Paradigms for Wireless Network Optimization in 6G](https://mlsanity.com/paper/2402.01665/) (2024)
- [Distributed Deep Reinforcement Learning Based Gradient Quantization for Federated Learning Enabled Vehicle Edge Computing](https://mlsanity.com/paper/2407.08462/) (2024)
- [Deep-Reinforcement-Learning-Based AoI-Aware Resource Allocation for RIS-Aided IoV Networks](https://mlsanity.com/paper/2406.11245/) (2024)
- [Reconfigurable Intelligent Surface Assisted VEC Based on Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2406.11318/) (2024)
- [Joint Optimization of Age of Information and Energy Consumption in NR-V2X System based on Deep Reinforcement Learning](https://mlsanity.com/paper/2407.08458/) (2024)
- [Vehicle Selection for C-V2X Mode 4 Based Federated Edge Learning Systems](https://mlsanity.com/paper/2401.07224/) (2024)
- [Anti-Byzantine Attacks Enabled Vehicle Selection for Asynchronous Federated Learning in Vehicular Edge Computing](https://mlsanity.com/paper/2404.08444/) (2024)
- [Mobility-Aware Federated Self-supervised Learning in Vehicular Network](https://mlsanity.com/paper/2408.00256/) (2024)
- [DRL-Based Resource Allocation for Motion Blur Resistant Federated Self-Supervised Learning in IoV](https://mlsanity.com/paper/2408.09194/) (2024)
- [DRL-Based Federated Self-Supervised Learning for Task Offloading and Resource Allocation in ISAC-Enabled Vehicle Edge Computing](https://mlsanity.com/paper/2408.14831/) (2024)
- [Hybrid Near-Far Field Channel Estimation for Holographic MIMO Communications](https://mlsanity.com/paper/2407.12264/) (2024)
- [DRL-Based Optimization for AoI and Energy Consumption in C-V2X Enabled IoV](https://mlsanity.com/paper/2411.13104/) (2024)
- [Asynchronous Federated Learning for Edge-assisted Vehicular Networks](https://mlsanity.com/paper/2208.01901/) (2022)
- [Deep Reinforcement Learning Based Vehicle Selection for Asynchronous Federated Learning Enabled Vehicular Edge Computing](https://mlsanity.com/paper/2304.02832/) (2023)
- [Deep Deterministic Policy Gradient to Minimize the Age of Information in Cellular V2X Communications](https://mlsanity.com/paper/2210.09586/) (2022)
- [Enhanced C-V2X Mode 4 to Optimize Age of Information and Reliability for IoV](https://mlsanity.com/paper/2309.10508/) (2023)
- [Blockchain-Enabled Variational Information Bottleneck for IoT Networks](https://mlsanity.com/paper/2403.06129/) (2024)
- [Deep Reinforcement Learning Based Power Allocation for Minimizing AoI and Energy Consumption in MIMO-NOMA IoT Systems](https://mlsanity.com/paper/2303.06411/) (2023)

## Abstract (arXiv)

On-ramp merging presents a critical challenge in autonomous driving, as vehicles from merging lanes need to dynamically adjust their positions and speeds while monitoring traffic on the main road to prevent collisions. To address this challenge, we propose a novel merging control scheme based on reinforcement learning, which integrates lateral control mechanisms. This approach ensures the smooth integration of vehicles from the merging lane onto the main road, optimizing both fuel efficiency and passenger comfort. Furthermore, we recognize the impact of vehicle-to-vehicle (V2V) communication on control strategies and introduce an enhanced protocol leveraging Cellular Vehicle-to-Everything (C-V2X) Mode 4. This protocol aims to reduce the Age of Information (AoI) and improve communication reliability. In our simulations, we employ two AoI-based metrics to rigorously assess the protocol's effectiveness in autonomous driving scenarios. By combining the NS3 network simulator with Python, we simulate V2V communication and vehicle control simultaneously. The results demonstrate that the enhanced C-V2X Mode 4 outperforms the standard version, while the proposed control scheme ensures safe and reliable vehicle operation during on-ramp merging.