Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO

Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO

Abstract

As Autonomous Vehicles (AV) are becoming a reality, the design of efficient motion control algorithms will have to deal with the unpredictable and interactive nature of other road users. Current AV motion planning algorithms suffer from the freezing robot problem, as they often tend to overestimate collision risks. To tackle this problem and design AV that behave human-like, we integrate a concept from Psychology called Social Value Orientation into the Reinforcement Learning (RL) framework. The addition of a social term in the reward function design allows us to tune the AV behaviour towards the pedestrian from a more reckless to an extremely prudent one. We train the vehicle agent with a state of the art RL algorithm and show that Social Value Orientation is an effective tool to obtain pro-social AV behaviour.

Publication

Luca Crosato, Chongfeng Wei, Edmond S. L. Ho and Hubert P. H. Shum,
"Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO",
Proceedings of the 2021 IEEE International Conference on Human-Machine Systems (ICHMS)
, 2021
Best Paper Award

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References

BibTeX

@inproceedings{luca21humancentric,
 author={Crosato, Luca and Wei, Chongfeng and Ho, Edmond S. L. and Shum, Hubert P. H.},
 booktitle={Proceedings of the 2021 IEEE International Conference on Human-Machine Systems},
 series={ICHMS '21},
 title={Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO},
 year={2021},
 month={Sep},
 publisher={IEEE},
 location={Magdeburg, Germany},
}

EndNote/RefMan

TY  - CONF
AU  - Crosato, Luca
AU  - Wei, Chongfeng
AU  - Ho, Edmond S. L.
AU  - Shum, Hubert P. H.
T2  - Proceedings of the 2021 IEEE International Conference on Human-Machine Systems
TI  - Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO
PY  - 2021
Y1  - Sep 2021
PB  - IEEE
ER  - 

Plain Text

Luca Crosato, Chongfeng Wei, Edmond S. L. Ho and Hubert P. H. Shum, "Human-centric Autonomous Driving in an AV-Pedestrian Interactive Environment Using SVO," in ICHMS '21: Proceedings of the 2021 IEEE International Conference on Human-Machine Systems, Magdeburg, Germany, IEEE, Sep 2021.

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Last updated on 26 October 2021, RSS Feeds