2024年 第33卷 第2期
《工程（英文）》 >> 2024年 第33卷 第2期 doi: 10.1016/j.eng.2023.10.005
面向可信自动驾驶决策——一种具有安全保证的鲁棒强化学习方法
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
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摘要
While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving. Therefore, we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles. The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety. Specifically, an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics. In addition, an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics. Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model. Finally, the proposed approach is evaluated through both simulations and experiments. These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.
关键词
Autonomous vehicle ; Decision-making ; Reinforcement learning ; Adversarial attack ; Safety guarantee
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