One of the key factors to ensure the safe operation of autonomous and semi-autonomous vehicles in dynamic environments is the ability to accurately predict the motion of the dynamic obstacles in the scene. In this work, we show how to use a realistic driver model learned from demonstrations via Inverse Reinforcement Learning to predict the long-term evolution of highway traffic scenes. We model each traffic participant as a Markov Decision Process in which the cost function is a linear combination of static and dynamic features. In particular, the static features capture the preferences of the driver while the dynamic features, which change over time depending on the actions of the other traffic participants, capture the driver's risk-aversive behavior. Using such a model for prediction enables us to explicitly consider the interactions between traffic participants while keeping the computational complexity quadratic in the number of vehicles in the scene. Preliminary experiments in simulated and real scenarios show the capability of our approach to produce reliable, human-like scene predictions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    High-speed highway scene prediction based on driver models learned from demonstrations


    Beteiligte:


    Erscheinungsdatum :

    01.11.2016


    Format / Umfang :

    983888 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Learning Normalizing Flow Policies Based on Highway Demonstrations

    Boborzi, Damian / Straehle, Christoph-Nikolas / Buchner, Jens S. et al. | IEEE | 2021



    Field Demonstrations of Two Prototype High-Speed Tribometers

    Reiff, R. / Cooke, J. / American Society of Mechanical Engineers; Rail Transportation Division| Institute of Electrical and Electronic Engineers; Land Transportation Division; Vehicular Technology Section | British Library Conference Proceedings | 1999


    Speed Control and Driver Psychophysiology Performance in Highway Uphill Sections

    Wu, Yanxia / Qiao, Jing / Shekonya, Kanda Paul et al. | Transportation Research Record | 2023


    Study on Setting of Highway Speed Limit Signs Based on Driver Behavior

    Tang, Zhihui / Wu, Haitao / Cheng, Xueqing | ASCE | 2010