Safe Model-based Off-policy Reinforcement Learning for Eco-Driving in Connected and Automated Hybrid Electric Vehicles

• URL: http://arxiv.org/abs/2105.11640v1
• Date: Tue, 25 May 2021 03:41:29 GMT
• Title: Safe Model-based Off-policy Reinforcement Learning for Eco-Driving in Connected and Automated Hybrid Electric Vehicles
• Authors: Zhaoxuan Zhu, Nicola Pivaro, Shobhit Gupta, Abhishek Gupta and Marcello Canova
• Abstract summary: This work proposes a Safe Off-policy Model-Based Reinforcement Learning algorithm for the eco-driving problem. The proposed algorithm leads to a policy with a higher average speed and a better fuel economy compared to the model-free agent.
• Score: 3.5259944260228977
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon look-ahead information from connectivity and advanced mapping features. Recently, Deep Reinforcement Learning (DRL) has been applied to the eco-driving problem. While the previous studies synthesize simulators and model-free DRL to reduce online computation, this work proposes a Safe Off-policy Model-Based Reinforcement Learning algorithm for the eco-driving problem. The advantages over the existing literature are three-fold. First, the combination of off-policy learning and the use of a physics-based model improves the sample efficiency. Second, the training does not require any extrinsic rewarding mechanism for constraint satisfaction. Third, the feasibility of trajectory is guaranteed by using a safe set approximated by deep generative models. The performance of the proposed method is benchmarked against a baseline controller representing human drivers, a previously designed model-free DRL strategy, and the wait-and-see optimal solution. In simulation, the proposed algorithm leads to a policy with a higher average speed and a better fuel economy compared to the model-free agent. Compared to the baseline controller, the learned strategy reduces the fuel consumption by more than 21\% while keeping the average speed comparable.

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