Don't Get into Trouble! Risk-aware Decision-Making for Autonomous Vehicles

Kasra Mokhtari, Alan R. Wagner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Risk is traditionally described as the expected likelihood of an undesirable outcome, such as a collision for an autonomous vehicle. Accurately predicting risk or potentially risky situations is critical for the safe operation of an autonomous vehicle. This work combines use of a controller trained to navigate around individuals in a crowd and a risk-based decision-making framework for an autonomous vehicle that integrates high-level risk-based path planning with a reinforcement learning-based low-level control. We evaluated our method using a high-fidelity simulation environment. We show our method results in zero collisions with pedestrians and predicted the least risky path, time to travel, or day to travel in approximately 72% of traversals. This work can improve safety by allowing an autonomous vehicle to one day avoid and react to risky situations.

Original languageEnglish (US)
Title of host publicationRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication
Subtitle of host publicationSocial, Asocial, and Antisocial Robots
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1570-1577
Number of pages8
ISBN (Electronic)9781728188591
DOIs
StatePublished - 2022
Event31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022 - Napoli, Italy
Duration: Aug 29 2022Sep 2 2022

Publication series

NameRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication: Social, Asocial, and Antisocial Robots

Conference

Conference31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022
Country/TerritoryItaly
CityNapoli
Period8/29/229/2/22

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Social Psychology
  • Communication
  • Artificial Intelligence
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Don't Get into Trouble! Risk-aware Decision-Making for Autonomous Vehicles'. Together they form a unique fingerprint.

Cite this