Abstract

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a two-player game, we propose model predictive control based on social gracefulness, which is measured by the discrepancy between the actions taken by the AV and those that could have been taken in favor of the human driver. We define social awareness as the ability of an agent to infer such favorable actions based on knowledge about the other agent's intent, and further show that empathy, i.e., the ability to understand others' intent by simultaneously inferring others' understanding of the agent's self intent, is critical to successful intent inference. Lastly, through an intersection case, we show that the proposed gracefulness objective allows an AV to learn more sophisticated behavior, such as passive-aggressive motions that gently force the other agent to yield.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4325-4331
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 1 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

Motion planning
Model predictive control
Accidents

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Ren, Y., Elliott, S., Wang, Y., Yang, Y., & Zhang, W. (2019). How shall i drive? interaction modeling and motion planning towards empathetic and socially-graceful driving. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 4325-4331). [8793835] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793835

How shall i drive? interaction modeling and motion planning towards empathetic and socially-graceful driving. / Ren, Yi; Elliott, Steven; Wang, Yiwei; Yang, Yezhou; Zhang, Wenlong.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 4325-4331 8793835 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ren, Y, Elliott, S, Wang, Y, Yang, Y & Zhang, W 2019, How shall i drive? interaction modeling and motion planning towards empathetic and socially-graceful driving. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793835, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 4325-4331, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793835
Ren Y, Elliott S, Wang Y, Yang Y, Zhang W. How shall i drive? interaction modeling and motion planning towards empathetic and socially-graceful driving. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 4325-4331. 8793835. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793835
Ren, Yi ; Elliott, Steven ; Wang, Yiwei ; Yang, Yezhou ; Zhang, Wenlong. / How shall i drive? interaction modeling and motion planning towards empathetic and socially-graceful driving. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 4325-4331 (Proceedings - IEEE International Conference on Robotics and Automation).
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