Method and apparatus for determining jerk minimization behavior to improve ride comfort in autonomous vehicles based on deep reinforcement learning

Abstract

A vehicle behavior determination apparatus based on deep reinforcement learning for minimizing acceleration and deceleration comprises an information observation unit that collects observation information from a sensing module or a road side unit (RSU) of an autonomous vehicle; a policy execution unit that performs decision-making on an action including acceleration control and lane change of the autonomous vehicle based on the observation information and policy; a reward determination unit that determines a reward based on the observation information, the action, and the next time point observation information according to the action; and a policy learning unit that updates the policy based on the collected observation information.