How Shall I Drive? Interaction Modeling and Motion Planning towards Empathetic and Socially-Graceful Driving
How Shall I Drive? Interaction Modeling and Motion Planning towards Empathetic and Socially-Graceful Driving
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我该如何开车？
DOI：
10.1109/icra.2019.8793835
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Wenlong Zhang
中科院分区：
文献类型：
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作者：
Yi Ren;Steven Elliott;Yiwei Wang;Yezhou Yang;Wenlong Zhang
虽然自动驾驶汽车(AV)的智能近年来有了显著的进步，但涉及自动驾驶汽车的事故表明，这些自动驾驶系统在与人类司机互动时缺乏驾驶美感。在两人博弈的背景下，我们提出了基于社会优雅的模型预测控制，该模型预测控制的衡量标准是自动驾驶人员采取的行动与可能采取的有利于人类驾驶员的行动之间的差异。我们将社会意识定义为主体基于对其他主体意图的了解来推断有利行为的能力，并进一步表明，移情，即通过同时推断他人对主体自我意图的理解来理解他人意图的能力，对于成功的意图推理至关重要。最后，通过一个相交案例，我们证明了所提出的优雅目标允许AV学习更复杂的行为，例如温和地迫使另一个主体屈服的被动攻击性动作。
While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a two-player game, we propose model predictive control based on social gracefulness, which is measured by the discrepancy between the actions taken by the AV and those that could have been taken in favor of the human driver. We define social awareness as the ability of an agent to infer such favorable actions based on knowledge about the other agent’s intent, and further show that empathy, i.e., the ability to understand others’ intent by simultaneously inferring others’ understanding of the agent’s self intent, is critical to successful intent inference. Lastly, through an intersection case, we show that the proposed gracefulness objective allows an AV to learn more sophisticated behavior, such as passive-aggressive motions that gently force the other agent to yield.