The decision-making performance of autonomous vehicles tends to be unstable at unsignalized intersections, making it difficult for them to make optimal decisions. We propose a decision-making model based on the Variable-Noise Multi-Agent Deep Deterministic Policy Gradient (VN-MADDPG) algorithm to address these issues. The variable-noise mechanism reduces noise dynamically, enabling the agent to utilize the learned policy more effectively to complete tasks. This significantly improves the stability of the decision-making model in making optimal decisions. The importance sampling module addresses the inconsistency between outdated experience in the replay buffer and current environmental features. This enhances the model’s learning efficiency and improves the robustness of the decision-making model. Experimental results on the CARLA simulation platform show that the success rate of decision making at unsignalized intersections by autonomous vehicles has significantly increased, and the pass time has been reduced. The decision-making model based on the VN-MADDPG algorithm demonstrates stable and excellent decision-making performance.

In modern urban environments, visual sensors are crucial for enhancing the functionality of navigation systems, particularly for devices designed for visually impaired individuals. The high-resolution images captured by these sensors form the basis for understanding the surrounding environment and identifying key landmarks. However, the core challenge in the semantic segmentation of blind roads lies in the effective extraction of global context and edge features. Most existing methods rely on Convolutional Neural Networks (CNNs), whose inherent inductive biases limit their ability to capture global context and accurately detect discontinuous features such as gaps and obstructions in blind roads. To overcome these limitations, we introduce Dual-Branch Swin-CNN Net(DSC-Net), a new method that integrates the global modeling capabilities of the Swin-Transformer with the CNN-based U-Net architecture. This combination allows for the hierarchical extraction of both fine and coarse features. First, the Spatial Blending Module (SBM) mitigates blurring of target information caused by object occlusion to enhance accuracy. The hybrid attention module (HAM), embedded within the Inverted Residual Module (IRM), sharpens the detection of blind road boundaries, while the IRM improves the speed of network processing. In tests on a specialized dataset designed for blind road semantic segmentation in real-world scenarios, our method achieved an impressive mIoU of 97.72%. Additionally, it demonstrated exceptional performance on other public datasets.