Recent advances in supervised learning and reinforcement learning have provided new opportunities to apply related methodologies to automated driving. However, there are still challenges to achieve automated driving maneuvers in dynamically changing environments. Supervised learning algorithms such as imitation learning can generalize to new environments by training on a large amount of labeled data, however, it can be often impractical or cost-prohibitive to obtain sufficient data for each new environment. Although reinforcement learning methods can mitigate this data-dependency issue by training the agent in a trial-and-error way, they still need to re-train policies from scratch when adapting to new environments. In this paper, we thus propose a meta reinforcement learning (MRL) method to improve the agents generalization capabilities to make automated lane-changing maneuvers at different traffic environments, which are formulated as different traffic congestion levels. Specifically, we train the model at light to moderate traffic densities and test it at a new heavy traffic density condition. We use both collision rate and success rate to quantify the safety and effectiveness of the proposed model. A benchmark model is developed based on a pretraining method, which uses the same network structure and training tasks as our proposed model for fair comparison. The simulation results shows that the proposed method achieves an overall success rate up to 20% higher than the benchmark model when it is generalized to the new environment of heavy traffic density. The collision rate is also reduced by up to 18% than the benchmark model. Finally, the proposed model shows more stable and efficient generalization capabilities adapting to the new environment, and it can achieve 100% successful rate and 0% collision rate with only a few steps of gradient updates.
تحميل البحث