Multi-task safe reinforcement learning for navigating intersections in dense traffic

DOI10.1016/J.JFRANKLIN.2022.06.052zbMATH Open1530.93339arXiv2202.09644OpenAlexW4226170924MaRDI QIDQ6136441FDOQ6136441

Yuqi Liu, Yinfeng Gao, Da-Wei Ding, Qichao Zhang, Dongbin Zhao

Publication date: 17 January 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Abstract: Multi-task intersection navigation including the unprotected turning left, turning right, and going straight in dense traffic is still a challenging task for autonomous driving. For the human driver, the negotiation skill with other interactive vehicles is the key to guarantee safety and efficiency. However, it is hard to balance the safety and efficiency of the autonomous vehicle for multi-task intersection navigation. In this paper, we formulate a multi-task safe reinforcement learning with social attention to improve the safety and efficiency when interacting with other traffic participants. Specifically, the social attention module is used to focus on the states of negotiation vehicles. In addition, a safety layer is added to the multi-task reinforcement learning framework to guarantee safe negotiation. We compare the experiments in the simulator SUMO with abundant traffic flows and CARLA with high-fidelity vehicle models, which both show that the proposed algorithm can improve safety with consistent traffic efficiency for multi-task intersection navigation.

Full work available at URL: https://arxiv.org/abs/2202.09644

Mathematics Subject Classification ID

Artificial neural networks and deep learning (68T07) Traffic problems in operations research (90B20) Automated systems (robots, etc.) in control theory (93C85)

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