Autonomous vehicle policy generation. The present invention relates to autonomous vehicle policy generation. The autonomous vehicle policy generation system may include: training a first agency by using Markov Decision Process based on a first policy gradient in a single-agent environment, and training first evaluation based on a first loss function to learn a target; training N agencies by usingMarkov Game in a multi-agent environment based on the first policy gradient, and training a second policy gradient and a second evaluation on the basis of the first loss function and a second loss function to learn the target to instantiate a second agent neural network; and generating an interactive sensing policy network strategy on the basis of the first and second agent neural networks. The Nagencies can be associated to driver types indicating cooperative levels. When collision occurs, negative reward or punishment can be distributed to related agencies on the basis of the priority levelof the lanes of corresponding agencies.
AUTONOMOUS VEHICLE POLICY GENERATION