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In this paper, we present a safe deep reinforcement learning system for automated driving. The proposed framework leverages merits of both rule-based and learning-based approaches for safety assurance. Our safety system consists of two modules namely handcrafted safety and dynamically-learned safety. The handcrafted safety module is a heuristic safety rule based on common driving practice that ensure a minimum relative gap to a traffic vehicle. On the other hand, the dynamically-learned safety module is a data-driven safety rule that learns safety patterns from driving data. Specifically, the dynamically-leaned safety module incorporates a model lookahead beyond the immediate reward of reinforcement learning to predict safety longer into the future. If one of the future states leads to a near-miss or collision, then a negative reward will be assigned to the reward function to avoid collision and accelerate the learning process. We demonstrate the capability of the proposed framework in a simulation environment with varying traffic density. Our results show the superior capabilities of the policy enhanced with dynamically-learned safety module.
This paper presents a safe reinforcement learning system for automated driving that benefits from multimodal future trajectory predictions. We propose a safety system that consists of two safety components: a heuristic safety and a learning-based saf
Although deep reinforcement learning (deep RL) methods have lots of strengths that are favorable if applied to autonomous driving, real deep RL applications in autonomous driving have been slowed down by the modeling gap between the source (training)
Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep Reinforceme
This paper describes a verification case study on an autonomous racing car with a neural network (NN) controller. Although several verification approaches have been proposed over the last year, they have only been evaluated on low-dimensional systems
Deep Reinforcement Learning (DRL) has become increasingly powerful in recent years, with notable achievements such as Deepminds AlphaGo. It has been successfully deployed in commercial vehicles like Mobileyes path planning system. However, a vast maj