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

Luca Crosato*, Chongfeng Wei*, Edmond S. L. Ho, Hubert P. H. Shum

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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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.
Original languageEnglish
Title of host publication2021 IEEE 2nd International Conference on Human-Machine Systems (ICHMS 2021)
EditorsAndreas Nürnberger, Giancarlo Fortino, Antonio Guerrieri, David Kaber, David Mendonca, Malte Schilling, Zhiwen Yu
Place of PublicationPiscataway, US
PublisherIEEE
Pages85-90
Number of pages6
ISBN (Electronic)9781665401708
ISBN (Print)9781665401715
DOIs
Publication statusPublished - 8 Sep 2021
EventIEEE ICHMS 2021: 2nd IEEE International Conference on Human-Machine Systems: Human Centered Systems for our Digital World - Magdeburg, Germany
Duration: 8 Sep 202110 Sep 2021
https://www.ichms2021.de/

Conference

ConferenceIEEE ICHMS 2021: 2nd IEEE International Conference on Human-Machine Systems
Country/TerritoryGermany
CityMagdeburg
Period8/09/2110/09/21
Internet address

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