Tactical Decision Making for Emergency Vehicles based on a Combinational Learning Method
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Increasing response time of emergency vehicles (EVs) could lead to an immensurable loss of property and life. On this account, tactical decision making for EV's microscopic control remains an indispensable issue to be improved. Our approach verifies that deep reinforcement learning could complement rule-based methods in generalization. It reveals that deterministic avoidance strategy for common vehicles at a low speed benefits EVs a lot, nevertheless, when at a high velocity, DQN breaks the deadlock of reduced safe distance and brings boldness to EVs in lane changing. Besides, a novel DQN method with speed-adaptive compact state space (SC-DQN) is put forward to fit in EVs' high-speed feature and generalize in various road topologies. All Above is implemented in SUMO emulator, where common vehicles are modeled rule-based whereas EVs are intelligently controlled.
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