Intention estimation and controllable behaviour models for traffic merges. Issue 2 (16th June 2021)

• Record Type: Journal Article
• Authors: Mahajan, Aditya; Kumano, Takayasu; Yasui, Yuji
• Is Part Of: SICE journal of control, measurement, and system integration. Volume 14:Issue 2(2021)
• Page Start: 59
• Page End: 66
• Publication Date: 2021-06-16
• Subjects: Automated driving -- interactive decision making -- traffic merge -- behaviour modelling
• DOI: 10.1080/18824889.2021.1894001
• Languages: English
• ISSNs: 1882-4889

Abstract

Abstract : This work focuses on decision making for automated driving vehicles in interaction rich scenarios like traffic merges in a flexibly assertive yet safe manner. We propose a Q -learning based approach, that takes in active intention inferences as additional inputs besides the directly observed state inputs. The outputs of Q -function are processed to select a decision by a modulation function, which can control how assertively or defensively the agent behaves.