A Hybrid Decision-Making Framework for Autonomous Vehicles in Urban Environments Based on Multi-Agent Reinforcement Learning with Explainable AI

Abstract

Autonomous vehicles (AVs) are expected to operate safely and efficiently in complex urban environments characterized by dynamic and uncertain elements such as pedestrians, cyclists and adverse weather. Although current neural network-based decision-making algorithms, fuzzy logic and reinforcement learning have shown promise, they often struggle to handle ambiguous situations, such as partially hidden road signs or unpredictable human behavior. This paper proposes a new hybrid decision-making framework combining multi-agent reinforcement learning (MARL) and explainable artificial intelligence (XAI) to improve robustness, adaptability and transparency. Each agent of the MARL architecture is specialized in a specific sub-task (e.g., obstacle avoidance, trajectory planning, intention prediction), enabling modular and cooperative learning. XAI techniques are integrated to provide interpretable rationales for decisions, facilitating human understanding and regulatory compliance. The proposed system will be validated using CARLA simulator, combined with reference data, to demonstrate improved performance in safety-critical and ambiguous driving scenarios.