Autonomous driving is an emerging technology that has advanced rapidly over the last decade. Modern transportation is expected to benefit greatly from a wise decision-making framework of autonomous vehicles, including the improvement of mobility and the minimization of risks and travel time. However, existing methods either ignore the complexity of environments only fitting straight roads, or ignore the impact on surrounding vehicles during optimization phases, leading to weak environmental adaptability and incomplete optimization objectives. To address these limitations, we propose a pArameterized decision-making framework with mU lti-modality percepTiOn based on deep reinforcement learning, called AUTO. We conduct a comprehensive perception to capture the state features of various traffic participants around the autonomous vehicle, based on which we design a graph-based model to learn a state representation of the multi-modal semantic features. To distinguish between lane-following and lane-changing, we decompose an action of the autonomous vehicle into a parameterized action structure that first decides whether to change lanes and then computes an exact action to execute. A hybrid reward function takes into account aspects of safety, traffic efficiency, passenger comfort, and impact to guide the framework to generate optimal actions. In addition, we design a regularization term and a multi-worker paradigm to enhance the training. Extensive experiments offer evidence that AUTO can advance state-of-the-art in terms of both macroscopic and microscopic effectiveness.

Autonomous driving systems (ADSs) have the potential to revolutionize transportation by improving traffic safety and efficiency. As the core component of ADSs, maneuver decision aims to make tactical decisions to accomplish road following, obstacle avoidance, and efficient driving. In this work, we consider a typical but rarely studied task, called Target-Lane-Entering (TLE), where an autonomous vehicle should enter a target lane before reaching an intersection to ensure a smooth transition to another road. For navigation-assisted autonomous driving, a maneuver decision module chooses the optimal timing to enter the target lane in each road section, thus avoiding rerouting and reducing travel time. To achieve the TLE task, we propose a ruLe-aided reINforcement lEarning framework, called LINE, which combines the advantages of RL-based policy and rule-based strategy, allowing the autonomous vehicle to make target-oriented maneuver decisions. Specifically, an RL-based policy with a hybrid reward function is able to make safe, efficient, and comfortable decisions while considering the factors of target lanes. Then a strategy of rule revision aims to help the policy learn from intervention and block the risk of missing target lanes. Extensive experiments based on the SUMO simulator confirm the effectiveness of our framework. The results show that LINE achieves state-of-the-art driving performance with over 95% task success rate.