1. A Reinforcement Learning Approach for Enacting Cautious Behaviours in Autonomous Driving System: Safe Speed Choice in the Interaction With Distracted Pedestrians
- Author
-
Mauro Da Lio, Gastone Pietro Rosati Papini, Alice Plebe, and Riccardo Dona
- Subjects
Computer science ,media_common.quotation_subject ,Trajectory ,Autonomous vehicles ,Context (language use) ,Pedestrian ,Human–computer interaction ,Reinforcement learning ,0502 economics and business ,Code (cryptography) ,Training ,MIT License ,Function (engineering) ,media_common ,050210 logistics & transportation ,Artificial neural network ,Mechanical Engineering ,Speed limit ,05 social sciences ,Vehicles ,Intelligent speed adaptation ,Roads ,Transfer learning ,Computer Science Applications ,Neural networks ,Vulnerable road users ,Autonomous driving ,Automotive Engineering - Abstract
Driving requires the ability to handle unpredictable situations. Since it is not always possible to predict an impending danger, a good driver should preventively assess whether a situation has risks and adopt a safe behavior. Considering, in particular, the possibility of a pedestrian suddenly crossing the road, a prudent driver should limit the traveling speed. We present a work exploiting reinforcement learning to learn a function that specifies the safe speed limit for a given artificial driver agent. The safe speed function acts as a behavioral directive for the agent, thus extending its cognitive abilities. We consider scenarios where the vehicle interacts with a distracted pedestrian that might cross the road in hard-to-predict ways and propose a neural network mapping the pedestrian's context onto the appropriate traveling speed so that the autonomous vehicle can successfully perform emergency braking maneuvers. We discuss the advantages of developing a specialized neural network extension on top of an already functioning autonomous driving system, removing the burden of learning to drive from scratch while focusing on learning safe behavior at a high-level. We demonstrate how the safe speed function can be learned in simulation and then transferred into a real vehicle. We include a statistical analysis of the network's improvements compared to the original autonomous driving system. The code implementing the presented network is available at https://github.com/tonegas/safe-speed-neural-network with MIT license and at https://zenodo.org/communities/dreams4cars.
- Published
- 2022
- Full Text
- View/download PDF