  Autonomous Vehicles (AVs) are required to operate safely and efficiently in
dynamic environments. For this, the AVs equipped with Joint
Radar-Communications (JRC) functions can enhance the driving safety by
utilizing both radar detection and data communication functions. However,
optimizing the performance of the AV system with two different functions under
uncertainty and dynamic of surrounding environments is very challenging. In
this work, we first propose an intelligent optimization framework based on the
Markov Decision Process (MDP) to help the AV make optimal decisions in
selecting JRC operation functions under the dynamic and uncertainty of the
surrounding environment. We then develop an effective learning algorithm
leveraging recent advances of deep reinforcement learning techniques to find
the optimal policy for the AV without requiring any prior information about
surrounding environment. Furthermore, to make our proposed framework more
scalable, we develop a Transfer Learning (TL) mechanism that enables the AV to
leverage valuable experiences for accelerating the training process when it
moves to a new environment. Extensive simulations show that the proposed
transferable deep reinforcement learning framework reduces the obstacle miss
detection probability by the AV up to 67% compared to other conventional deep
reinforcement learning approaches.
