Highlights
Abstract
Method
TriCoD Architecture
TriCoD combines an upper-layer DRL decision model and a lower-layer model-based controller. The twin-world safety projection verifies candidate actions before control execution, while the adaptive switching mechanism balances safety and efficiency under mixed-traffic disturbances.
The method section keeps only Fig.3 for a focused architecture presentation.
Experimental Results
Table II, Table III, Table IV, and the Extended Scenario table are included.
Case Videos
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