Automated driving systems need to behave as human-like as possible, especially in highly interactive scenarios. In this way, the behavior can be better interpreted and predicted by other traffic participants, in order to prevent misunderstanding, and in the worst case, accidents. With this purpose, more and more human-driven trajectories in real traffic are recorded, making it possible to learn human-like driving styles. In this paper, we extend our previous behavior cloning approach, which has been successfully applied to highway driving, to generate high-level decisions for unsignalized intersections that are challenging during urban driving. Unlike many other approaches that utilize neural networks, either for end-to-end behavior cloning or for approximating Q-functions in reinforcement learning, where their decisions are intractable to understand, the output decisions of our approach are interpretable and easy to track. Meanwhile, the driving decisions are provably safe under reasonable assumptions by generalizing the Responsibility-Sensitive Safety (RSS) concept to complex intersections. Simulation evaluations show that our learned policy produces a more human-like behavior, and meanwhile, balances driving efficiency, comfort, perceived safety, and politeness better.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Learning Safe and Human-Like High-Level Decisions for Unsignalized Intersections From Naturalistic Human Driving Trajectories


    Contributors:

    Published in:

    Publication date :

    2023-11-01


    Size :

    2282929 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Understanding Gap Acceptance Behavior at Unsignalized Intersections using Naturalistic Driving Study Data

    Hao, Haiyan / Gibbons, Ronald B. / Medina, Alejandra | Transportation Research Record | 2021


    Human-like driving decision at unsignalized intersections based on game theory

    Li, Daofei / Liu, Guanming / Xiao, Bin | SAGE Publications | 2023


    Unsignalized Intersections

    Elefteriadou, Lily | Springer Verlag | 2013


    Unsignalized Intersections

    Guerrieri, Marco / Mauro, Raffaele | Springer Verlag | 2020


    Unsignalized Intersections: Roundabouts

    Prassas, Elena S. / P. Roess, Roger | Springer Verlag | 2020