Year: 2022
Type: preprint
Abstract: Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions embedded into the reinforcement learning policy, we arrive at safe policies to optimize the performance of the autonomous driving vehicle. However, control barrier functions need a good approximation of the model of the car. We use probabilistic control barrier functions as an estimate of the model uncertainty. The algorithm is implemented as an online version in the CARLA (Dosovitskiy et al., 2017) Simulator and as an offline version on a dataset extracted from the NGSIM Database. The proposed algorithm is not just a safe ramp merging algorithm but a safe autonomous driving algorithm applied to address ramp merging on highways.
Source: arXiv (Cornell University)
Authors: Udatha, Soumith, Lyu, Yiwei, Dolan, John
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4310632530