Figures (4)  Tables (1)

    • Figure 1. 

      Highway dense traffic scenario instance on SUMO simulation.

    • Figure 2. 

      Cumulative reward values. (a) Without safe reward function. (b) Safe reward function integrated.

    • Figure 3. 

      Number of collisions per episode and cumulative collisions for 600 episodes. (a) Without safe reward function. (b) Safe reward function integrated.

    • Figure 4. 

      Unsafe lane change rate per episode. (a) Without safe reward function. (b) Safe reward function integrated

    • Approaches Ave. LC duration (s)↓ Unsafe LC rate ↓ #LC collision ↓
      LC2013 8.3 37.89% 115
      LCD 3.4 12.91% 41
      BRL-RPF 6.7 9.8% 40
      Our model 2.7 9.4% 43
      Bold values indicate the best performance in each column.

      Table 1. 

      Model performance comparison.