DeepAI AI Chat
Log In Sign Up

Adversarial Evaluation of Autonomous Vehicles in Lane-Change Scenarios

04/14/2020
by   Baiming Chen, et al.
Tsinghua University
8

Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. Current evaluation procedures lack the abilities of weakness-aiming and evolving, thus they could hardly generate adversarial environments for autonomous vehicles, leading to insufficient challenges. To overcome the shortage of static evaluation methods, this paper proposes a novel method to generate adversarial environments with deep reinforcement learning, and to cluster them with a nonparametric Bayesian method. As a representative task of autonomous driving, lane-change is used to demonstrate the superiority of the proposed method. First, two lane-change models are separately developed by a rule-based method and a learning-based method, waiting for evaluation and comparison. Next, adversarial environments are generated by training surrounding interactive vehicles with deep reinforcement learning for local optimal ensembles. Then, a nonparametric Bayesian approach is utilized to cluster the adversarial policies of the interactive vehicles. Finally, the adversarial environment patterns are illustrated and the performances of two lane-change models are evaluated and compared. The simulation results indicate that both models perform significantly worse in adversarial environments than in naturalistic environments, with plenty of weaknesses successfully extracted in a few tests.

READ FULL TEXT

page 1

page 2

page 5

page 7

06/20/2023

Autonomous Driving with Deep Reinforcement Learning in CARLA Simulation

Nowadays, autonomous vehicles are gaining traction due to their numerous...
01/26/2022

A Cooperation-Aware Lane Change Method for Autonomous Vehicles

Lane change for autonomous vehicles (AVs) is an important but challengin...
11/26/2019

Multi-Vehicle Mixed-Reality Reinforcement Learning for Autonomous Multi-Lane Driving

Autonomous driving promises to transform road transport. Multi-vehicle a...
09/22/2021

Benchmarking Lane-changing Decision-making for Deep Reinforcement Learning

The development of autonomous driving has attracted extensive attention ...
08/28/2020

Meta Reinforcement Learning-Based Lane Change Strategy for Autonomous Vehicles

Recent advances in supervised learning and reinforcement learning have p...