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Hybrid Deep Reinforcement Learning and Planning for Safe and Comfortable Automated Driving

2022-12-30 15:19:01
Dikshant Gupta, Mathias Klusch
arXiv_AI
         
Abstract

We present a novel hybrid learning method, HyLEAR, for solving the collision-free navigation problem for self-driving cars in POMDPs. HyLEAR leverages interposed learning to embed knowledge of a hybrid planner into a deep reinforcement learner to faster determine safe and comfortable driving policies. In particular, the hybrid planner combines pedestrian path prediction and risk-aware path planning with driving-behavior rule-based reasoning such that the driving policies also take into account, whenever possible, the ride comfort and a given set of driving-behavior rules. Our experimental performance analysis over the CARLA-CTS1 benchmark of critical traffic scenarios revealed that HyLEAR can significantly outperform the selected baselines in terms of safety and ride comfort.

Abstract (translated)

URL

https://arxiv.org/abs/2301.00650

PDF

https://arxiv.org/pdf/2301.00650.pdf

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