Dynamic Residual Safe Reinforcement Learning for Multi-Agent Safety-Critical Scenarios Decision-Making

Their interactions are characterized by significant dynamism and heterogeneity. To address these challenges, we propose a MADCZ modeling approach. By constructing dynamic topological structures and spatiotemporal conflict zones, the model attains precise conflict identification and delivers interpretable decision support. First, a joint state space is established, defined as S = S A Vs S BVs S Peds S Road, (2) where S A Vs, S BVs, S Peds and S Road represent the state subspaces of A Vs, BVs, Peds, and road network, respectively. Each subspace is specifically defined as S V ehs = [ x, y,θ, v,l,c, p ] R 22 S Peds = [ x, y,θ, v,l, c ] R 10 S Road = nullnull G(V,E) | V R n 22, E { 0, 1} n nnull, (3) where x and y denote the horizontal and vertical coordinates of the traffic participants, θ [0, 360) is the heading angle, v represents the longitudinal velocity, l and c represent the lane position and traffic participant type, respectively, each encoded as a three-dimensional one-hot vector. G represents the road network topology, where each traffic participant is modeled as a node v i V, and E represents the connections among participants, representing sensor perception or vehicle-to-vehicle (V2V) communication relationships. Additionally, for vehicles, p denotes the relative motion information with respect to surrounding vehicles, defined as p = [ d j, v j], j = {f, r, lf, lr,rf, rr }, (4) where d j and v j denote the relative longitudinal distance and the relative velocity between vehicles, and f, r, lf, lr, rf, rr represent the neighboring vehicles at the front, rear, left front, left rear, right front, and right rear, respectively. If no neighboring vehicle is detected in a given direction, the relative longitudinal distance is assigned the maximum perception range and the relative velocity is set to zero.