Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main research focus thus far, however, is still on improving driving accuracy only. This paper formalizes the three concerns with the aim of accurate, comfortable and human-like driving. Three contributions are made in this paper. First, numerical map data from HERE Technologies are employed for more accurate driving; a set of map features which are believed to be relevant to driving are engineered to navigate better. Second, the learning procedure is improved from a pointwise prediction to a sequence-based prediction and passengers' comfort measures are embedded into the learning algorithm. Finally, we take advantage of the advances in adversary learning to learn human-like driving; specifically, the standard L1 or L2 loss is augmented by an adversary loss which is based on a discriminator trained to distinguish between human driving and machine driving. Our model is trained and evaluated on the Drive360 dataset, which features 60 hours and 3000 km of real-world driving data. Extensive experiments show that our driving model is more accurate, more comfortable and behaves more like a human driver than previous methods. The resources of this work will be released on the project page.
. A large body of work has studied human driving styles @cite_43 @cite_42 . Statistical approaches were employed to evaluate human drivers and to suggest improvements @cite_18 @cite_39 . This line of research inspired us to ask whether . Human-like driving is hard to quantify. Fortunately, recent advances in adversarial learning provide the tools to extract the of human-like driving, using it to adjust machine driving so that it becomes more human-like. Some work has studied human-like motion planning of autonomous cars, but it was constrained to simulated scenarios @cite_41 @cite_19 . The closest work to ours was done by @cite_44 where a set of manually-crafted features are used to characterize human driving style. Our method learns the features directly from the data using adversarial neural networks.
@cite_18 @cite_41 @cite_42 @cite_39 @cite_44 @cite_43 @cite_19
2135801466 2580495915 2919093153 2760878839
Driving aggressively increases the risk of accidents. Assessing a person's driving style is a useful way to guide aggressive drivers toward having safer driving behaviors. A number of studies have investigated driving style, but they often rely on the use of self-reports or simulators, which are not suitable for the real-time, continuous, automated assessment and feedback on the road. In order to understand and model aggressive driving style, we construct an in-vehicle sensing platform that uses a smartphone instead of using heavyweight, expensive systems. Utilizing additional cheap sensors, our sensing platform can collect useful information about vehicle movement, maneuvering and steering wheel movement. We use this data and apply machine learning to build a driver model that evaluates drivers' driving styles based on a number of driving-related features. From a naturalistic data collection from 22 drivers for 3 weeks, we analyzed the characteristics of drivers who have an aggressive driving style. Our model classified those drivers with an accuracy of 90.5 (violation-class) and 81 (questionnaire-class). We describe how, in future work, our model can be used to provide real-time feedback to drivers using only their current smartphone. The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This paper adopts a method for overcoming the problem of cascading errors inherent in prior approaches, resulting in realistic behavior that is robust to trajectory perturbations. We extend Generative Adversarial Imitation Learning to the training of recurrent policies, and we demonstrate that our model rivals rule-based controllers and maximum likelihood models in realistic highway simulations. Our model both reproduces emergent behavior of human drivers, such as lane change rate, while maintaining realistic control over long time horizons. Does the human mind resemble the machine-learning systems that mirror its performance? Convolutional neural networks (CNNs) have achieved human-level benchmarks in classifying novel images. These advances support technologies such as autonomous vehicles and machine diagnosis; but beyond this, they serve as candidate models for human vision itself. However, unlike humans, CNNs are “fooled” by adversarial examples—nonsense patterns that machines recognize as familiar objects, or seemingly irrelevant image perturbations that nevertheless alter the machine’s classification. Such bizarre behaviors challenge the promise of these new advances; but do human and machine judgments fundamentally diverge? Here, we show that human and machine classification of adversarial images are robustly related: In 8 experiments on 5 prominent and diverse adversarial imagesets, human subjects correctly anticipated the machine’s preferred label over relevant foils—even for images described as “totally unrecognizable to human eyes”. Human intuition may be a surprisingly reliable guide to machine (mis)classification—with consequences for minds and machines alike. Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1 5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL