Reinforcement Learning-based Decision-Making for Safe Motion Planning in Complex Driving Scenarios

Reinforcement Learning-based Decision-Making for Safe Motion Planning in Complex Driving Scenarios | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Reinforcement Learning-based Decision-Making for Safe Motion Planning in Complex Driving Scenarios Raafat E. Shalaby, Amr Abo Salem, Mohamed I. Mahmoud, Tarek A. Mahmoud This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8815464/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Autonomous vehicles (AVs) face considerable challenges in decision-making and motion planning when operating in complex,dynamic environments, especially under safety-critical driving conditions. This research introduces SOLID−RL (StrategicOptimization for Learning in Intelligent Driving with Reinforcement Learning), a new technique that enhance and optimizeAV decision-making using reinforcement learning (RL) and dynamic programming. This methodology utilizes high-definition(HD) maps and environmental data to navigate urban scenarios. It employs a two-layer architecture: a high-level RL-baseddecision-maker that generates safe, rule-compliant actions and a low-level dynamic programming planner that optimizestrajectory generation. This method allows AVs to facilitate navigation in complex environments while adhering to traffic rulesand safety requirements. Simulations across urban scenarios, including intersections and overtaking maneuvers, demonstratethat SOLID−RL improves safety metrics, such as collision avoidance and path adherence compared to conventional methods.These findings contribute to the advancement of AV technology, offering a robust framework for safe and efficient autonomousnavigation in complex urban settings. This research paves the way for more reliable AV systems capable of handling thediverse challenges of real-world driving conditions. Physical sciences/Engineering Physical sciences/Mathematics and computing Autonomous Vehicle Decision-Making Motion Planning Reinforcement Learning Safety-Critical Driving Scenarios Dynamic Programming Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8815464","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":599684602,"identity":"3ce46d5b-75e5-4716-a253-33d4b3f15000","order_by":0,"name":"Raafat E. 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