Does Unpredictability Influence Driving Behavior?
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866914670868168704 |
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| author | Samavi, Sepehr Shkurti, Florian Schoellig, Angela P. |
| author_facet | Samavi, Sepehr Shkurti, Florian Schoellig, Angela P. |
| contents | In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learning to model reward functions for an ego-car conducting a lane change in a highway setting. We define a new feature based on the unpredictability of surrounding cars and use it in the reward function. We learn two reward functions from human data: a baseline and one that incorporates our defined unpredictability feature, then compare their performance with a quantitative and qualitative evaluation. Our evaluation demonstrates that incorporating the unpredictability feature leads to a better fit of human-generated test data. These results encourage further investigation of the effect of unpredictability on driving behavior. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2307_15287 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Does Unpredictability Influence Driving Behavior? Samavi, Sepehr Shkurti, Florian Schoellig, Angela P. Robotics In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learning to model reward functions for an ego-car conducting a lane change in a highway setting. We define a new feature based on the unpredictability of surrounding cars and use it in the reward function. We learn two reward functions from human data: a baseline and one that incorporates our defined unpredictability feature, then compare their performance with a quantitative and qualitative evaluation. Our evaluation demonstrates that incorporating the unpredictability feature leads to a better fit of human-generated test data. These results encourage further investigation of the effect of unpredictability on driving behavior. |
| title | Does Unpredictability Influence Driving Behavior? |
| topic | Robotics |
| url | https://arxiv.org/abs/2307.15287 |