United States Department of Transportation
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Lane Changing of Autonomous Vehicles in Mixed Traffic Environments: A Reinforcement Learning Approach [Supporting Dataset]
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2022-08-10
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Alternative Title:Data_set_C2SMART_Project
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Edition:Final Report, 3/1/2021-2/28/2022
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Abstract:The purpose of this proposal is to develop innovative reinforcement learning control methods for lane changing of connected and autonomous vehicles (CAVs) in mixed traffic. In the proposed framework, before the CAV changes to the target lane, it needs to predict most likely behavior of surrounding vehicles related to the lane change and then determine the optimal path to the other lane. The lane changing maneuver will be completed by solving a linear quadratic regulator (LQR) problem that yields an optimal controller to monitor the CAV’s longitudinal and lateral movements during the lane-changing maneuver. A novel aspect of this research is to reduce the trajectory planning and tracking problem down to the minimization of a cost function that depends on the target way-point in the target lane the CAV will reach. In the proposal, the research team will integrate reinforcement learning and adaptive/approximate dynamic programming methods to solve this data-driven LQR control problem under constraints, without assuming the exact knowledge of surrounding vehicles, while avoiding the curses of dimensionality and modeling of conventional dynamic programming. Thanks to the systematic use of systems and control-theoretic methods, the proposed framework aims to yield desirable lane-changing controllers with guaranteed stability for CAVs from small samples of historical and real-time data. The total size of the described file is 3.2591 MB. The .csv, Comma Separated Value, file is a simple format that is designed for a database table and supported by many applications. The .csv file is often used for moving tabular data between two different computer programs, due to its open format. Any text editor or spreadsheet program will open .csv files. MAT files are a binary data container format used by MATLAB, an open source program.
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Content Notes:National Transportation Library (NTL) Curation Note: As this dataset is preserved in a repository outside U.S. DOT control, as allowed by the U.S. DOT’s Public Access Plan (https://doi.org/10.21949/1503647) Section 7.4.2 Data, the NTL staff has performed NO additional curation actions on this dataset. The current level of dataset documentation is the responsibility of the dataset creator. NTL staff last accessed this dataset at its repository URL on 2023-07-27. If, in the future, you have trouble accessing this dataset at the host repository, please email NTLDataCurator@dot.gov describing your problem. NTL staff will do its best to assist you at that time.
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