Safe decision-making for lane-change of autonomous vehicles via human demonstration-aided reinforcement learning

• Main Authors: Wu, Jingda, Huang, Wenhui, de Boer, Niels, Mo, Yanghui, He, Xiangkun, Lv, Chen
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2023
• Subjects: Engineering::Civil engineering::Transportation; Engineering::Mechanical engineering::Motor vehicles; Training; Measurement; Runtime
• Online Access: https://hdl.handle.net/10356/166841
• Institution: Nanyang Technological University

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision- making problem. However, poor runtime safety hinders RL- based dec...