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This method designs a multi-step reward and penalty method to alleviate the sparse reward problem using positive and negative reward experience replay buffer. The proposed method is validated in a simulation environment with different traffic flow and market penetration under the mixed traffic conditions of automated vehicles and human-driving vehicles. The results show that compared with traditional signal control methods, the proposed method can effectively improve the convergence and stability of the algorithm, reduce the number of collisions, and reduce the average travel time under different traffic conditions.<\/jats:p>","DOI":"10.1177\/15501329221114060","type":"journal-article","created":{"date-parts":[[2022,7,26]],"date-time":"2022-07-26T07:47:10Z","timestamp":1658821630000},"page":"155013292211140","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Connected and automated vehicle control at unsignalized intersection based on deep reinforcement learning in vehicle-to-infrastructure environment"],"prefix":"10.1177","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0631-8370","authenticated-orcid":false,"given":"Juan","family":"Chen","sequence":"first","affiliation":[{"name":"SILC Business School, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vijayan","family":"Sugumaran","sequence":"additional","affiliation":[{"name":"School of Business Administration, Oakland University, Rochester, MI, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peiyan","family":"Qu","sequence":"additional","affiliation":[{"name":"SILC Business School, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,7,26]]},"reference":[{"key":"bibr1-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.03.008"},{"key":"bibr2-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.09.001"},{"issue":"2","key":"bibr3-15501329221114060","first-page":"491","volume":"14","author":"Arakawa T","year":"2018","journal-title":"Int J Innov Comput I"},{"key":"bibr4-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2019.05.003"},{"key":"bibr5-15501329221114060","volume-title":"Reinforcement learning: an introduction","author":"Sutton R","year":"1998"},{"key":"bibr6-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2018.04.008"},{"key":"bibr7-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0249"},{"key":"bibr8-15501329221114060","volume-title":"Research on interactive collision avoidance behavior mechanism and early warning technology of conflict vehicles at uncontrolled intersections","author":"Shao W","year":"2019"},{"key":"bibr9-15501329221114060","first-page":"1378","volume-title":"2016 IEEE 19th international conference on intelligent transportation systems (ITSC)","author":"Kalantari R"},{"key":"bibr10-15501329221114060","first-page":"2034","volume-title":"2018 IEEE international conference on robotics and automation (ICRA)","author":"Isele D"},{"key":"bibr11-15501329221114060","first-page":"33","author":"Duan M","year":"2020","journal-title":"Automot Technol"},{"key":"bibr12-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2019.04.012"},{"key":"bibr13-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2014.10.001"},{"key":"bibr14-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.06.004"},{"key":"bibr15-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2019.09.018"},{"key":"bibr16-15501329221114060","first-page":"1057","volume-title":"Advances in neural information processing systems","author":"Sutton RS","year":"2000"},{"key":"bibr17-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2017.11.011"},{"key":"bibr18-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.105657"},{"key":"bibr19-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2017.09.020"},{"key":"bibr20-15501329221114060","doi-asserted-by":"publisher","DOI":"10.3390\/s20020426"},{"key":"bibr21-15501329221114060","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2016.01.001"},{"key":"bibr22-15501329221114060","unstructured":"Mnih V, Kavukcuoglu K, Silver D, et al. 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