Driving through complex urban environments is a challenging task for autonomous vehicles (AVs), as they must safely reach their mission goal, and react properly to traffic participants while obeying traffic rules. Deep reinforcement learning (DRL) is a promising method to generate driving policies for AVs because it can explore complex environments and learn suitable reactions. In this work, we present a DRL algorithm for AVs to handle intersection scenarios while considering traffic rules. Furthermore, we enhance the safety of our DRL algorithm's decisions by introducing a safety checker based on a responsibility-sensitive safety (RSS) model. Evaluations show that our DRL algorithm outperforms the baseline method by driving safely to reach the mission goal while obeying the traffic rules at an intersection.


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    Title :

    Safe and Rule-Aware Deep Reinforcement Learning for Autonomous Driving at Intersections


    Contributors:
    Zhang, Chi (author) / Kacem, Kais (author) / Hinz, Gereon (author) / Knoll, Alois (author)


    Publication date :

    2022-10-08


    Size :

    1206218 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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