Scalable Decentralized Cooperative Platoon using Multi-Agent Deep Reinforcement Learning

TL;DR

This paper presents a scalable, decentralized multi-agent deep reinforcement learning approach for vehicle platooning, improving traffic flow and safety in urban environments through a novel communication framework.

Contribution

It introduces a new decentralized platooning method using deep reinforcement learning with a 'sharing and caring' communication framework for enhanced cooperation.

Findings

Improved traffic flow and safety in simulated urban scenarios.

Enhanced robustness and cooperation among autonomous vehicles.

Demonstrated scalability and effectiveness of the approach.

Abstract

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle communication, these systems expand the vehicles environmental awareness, allowing them to detect hidden obstacles and thereby enhancing safety and reducing crash rates compared to human drivers who rely solely on visual perception. A key application of this technology is vehicle platooning, where connected vehicles drive in a coordinated formation. This paper introduces a vehicle platooning approach designed to enhance traffic flow and safety. Developed using deep reinforcement learning in the Unity 3D game engine, known for its advanced physics, this approach aims for a high-fidelity physical simulation that closely mirrors real-world conditions. The proposed platooning model focuses on scalability, decentralization, and fostering positive cooperation through the introduced predecessor-follower "sharing and caring" communication framework. The study demonstrates how these elements collectively enhance autonomous driving performance and robustness, both for individual vehicles and for the platoon as a whole, in an urban setting. This results in improved road safety and reduced traffic congestion.