Similar to human drivers, it is crucial for Autonomous Driving (AD) systems to comprehend and adhere to traffic rules effectively. This adherence ensures safety and societal acceptance of Autonomous Vehicles (AVs). Integrating traffic rules into the learning process and real-time monitoring of rule adherence are therefore essential for the successful implementation and widespread adoption of AD technologies. To address the need for traffic rule conformance analysis, we introduce a framework based on BARK, our in-house developed scenario simulator. Within this framework, we formalize rules using Linear Temporal Logic (LTL) formulas and employ the quantitative semantics of Signal Temporal Logic (STL) to assess rule compliance with finer granularity. These rules are then integrated into the learning process of Deep Reinforcement Learning (DRL) agents. By conducting experiments across various simulated scenarios within the framework, as well as on a public dataset, we underscore the importance of integrating both traffic rules and quantitative semantics of STL into the development of behavior planner agents. This integration enhances their efficacy and safety in real-world applications.
Traffic Rule Integration with Temporal Logic in Deep Reinforcement Learning for Behavior Planning
2024-09-24
1009776 byte
Conference paper
Electronic Resource
English
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