Research in the collaborative driving domain strives to create control systems that coordinate the motion of multiple vehicles in order to navigate traffic both efficiently and safely. In this paper a novel individual vehicle controller based on reinforcement learning is introduced. This controller is capable of both lateral and longitudinal control while driving in a multi-vehicle platoon. The design and development of this controller is discussed in detail and simulation results showing learning progress and performance are presented.
Available at: http://works.bepress.com/cmclark/22/