2023/02/04 by Yiğit Gürses, Gurses, Yigit, Kaan Buyukdemirci +3 · 1 citation
Engineering · Psychology · #Artificial Intelligence (cs.AI) #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Machine Learning (cs.LG) #Robotics (cs.RO) #Traffic control and management
paper · pdf · doi:10.48550/arxiv.2302.02179
openalex publication_date 2023/02/04 · openalex created_date 2023/02/09 · openalex updated_date 2026/07/28
Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver strategies. These strategies can be used as inspirations for developing autonomous driving algorithms or to create high-fidelity simulators. Reinforcement learning is a common tool to model driver policies, but conventional training of these models can be computationally expensive and time-consuming. To address this issue, in this paper, we propose ``skill-based" hierarchical driving strategies, where motion primitives, i.e. skills, are designed and used as high-level actions. This reduces the training time for applications that require multiple models with varying behavior. Simulation results in a merging scenario demonstrate that the proposed approach yields driver models that achieve higher performance with less training compared to baseline reinforcement learning methods.