Signal lamp-free intersection control method and device based on deep reinforcement learning

The invention discloses a non-signal-lamp intersection control method and device based on deep reinforcement learning, and the method employs a deep reinforcement learning algorithm to coordinate and control the conflict-free release of an intersection, avoids the conflict release through a judgment mode of a conflict point, achieves the fairness of vehicle release through the design of a reward function, and improves the safety of a vehicle. And the release action of the target intersection without the signal lamp at the current moment is calculated through the interactive updating trained DQN network, so that the average waiting time of vehicles is shortened, the passing efficiency is improved, and the problem of vehicle congestion at the intersection without the signal lamp is solved. Compared with a non-signal-lamp intersection release method based on deep reinforcement learning in the prior art, the intersection coordination problem is formulated by using a deep learning framework, the occupation conditi