Risk-Anticipatory Autonomous Driving Strategies Considering Vehicles' Weights Based on Hierarchical Deep Reinforcement Learning

Autonomous vehicles (AVs) have the potential to prevent accidents caused by drivers' errors and reduce road traffic risks. Due to the nature of heavy vehicles, whose collisions cause more serious crashes, the weights of vehicles need to be considered when making driving strategies aimed at reducing the potential risks and their consequences in the context of autonomous driving. This study develops an autonomous driving strategy based on risk anticipation, considering the weights of surrounding vehicles and using hierarchical deep reinforcement learning. A risk indicator integrating surrounding vehicles' weights, based on the risk field theory, is proposed and incorporated into autonomous driving decisions. A hybrid action space is designed to allow for left lane changes, right lane changes and car-following, which enables AVs to act more freely and realistically whenever possible. To solve the above hybrid decision-making problem, a hierarchical proximal policy optimization (HPPO) algorithm with an attention mechanism (AT-HPPO) is developed, providing great advantages in maintaining stable performance with high robustness and generalization. An indicator, potential collision energy in conflicts (PCEC), is newly proposed to evaluate the performance of the developed AV driving strategy from the perspective of the consequences of potential accidents. The performance evaluation results in simulation and dataset demonstrate that our model provides driving strategies that reduce both the likelihood and consequences of potential accidents, at the same time maintaining driving efficiency. The developed method is especially meaningful for AVs driving on highways, where heavy vehicles make up a high proportion of the traffic.