動的な緊急車両用車線と回廊形成のための階層型GNNマルチエージェント学習
Hierarchical GNN-Based Multi-Agent Learning for Dynamic Queue-Jump Lane and Emergency Vehicle Corridor Formation
階層型グラフニューラルネットワークとマルチエージェント強化学習を用いて、接続車両を協調させ緊急車両用の回廊を動的に形成する手法を提案し、シミュレーションで緊急車両の走行時間を大幅に短縮した。
著者: Haoran Su
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Emergency vehicles require rapid passage through congested traffic, yet existing strategies fail to adapt to dynamic conditions. We propose a novel hierarchical graph neural network (GNN)-based multi-agent reinforcement learning framework to coordinate connected vehicles for emergency corridor formation. Our approach uses a high-level planner for global strategy and low-level controllers for trajectory execution, utilizing graph attention networks to scale with variable agent counts. Trained via Multi-Agent Proximal Policy Optimization (MAPPO), the system reduces emergency vehicle travel time by 28.3% compared to baselines and 44.6% compared to uncoordinated traffic in simulations. The design achieves near-zero collision rates (0.3%) while maintaining 81% of background traffic efficiency. Ablation and generalization studies confirm the framework's robustness across diverse scenarios. These results demonstrate the effectiveness of combining GNNs with hierarchical learning for intelligent transportation systems.