METHOD FOR PERFORMING REINFORCEMENT LEARNING BY V2X COMMUNICATION DEVICE IN AUTONOMOUS DRIVING SYSTEM

A method for performing reinforcement learning by a V2X communication device in an autonomous driving system, specifically, a method for performing reinforcement learning in consideration of an application rate of a reward according to age in terms of the freshness of a reward for an action, is proposed. An agent transmits an action message and controls a reflection rate of a reward through AoI management for a reward message, so that rewards transmitted from a plurality of devices are suitably reflected in an environment of a reinforcement learning-based autonomous driving system, and an optimal policy can be found accordingly.