A lattice-based planner with merge-specific costs and a desired-speed rule handled every simulated forced highway merge and did so faster than its own ablated variants.
Developing a merge lane change decision policy for autonomous vehicles by deep reinforce- ment learning,
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SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging
A lattice-based planner with merge-specific costs and a desired-speed rule handled every simulated forced highway merge and did so faster than its own ablated variants.