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Does Unpredictability Influence Driving Behavior?

Robotics 2024-02-09 v1

Abstract

In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learning to model reward functions for an ego-car conducting a lane change in a highway setting. We define a new feature based on the unpredictability of surrounding cars and use it in the reward function. We learn two reward functions from human data: a baseline and one that incorporates our defined unpredictability feature, then compare their performance with a quantitative and qualitative evaluation. Our evaluation demonstrates that incorporating the unpredictability feature leads to a better fit of human-generated test data. These results encourage further investigation of the effect of unpredictability on driving behavior.

Keywords

Cite

@article{arxiv.2307.15287,
  title  = {Does Unpredictability Influence Driving Behavior?},
  author = {Sepehr Samavi and Florian Shkurti and Angela P. Schoellig},
  journal= {arXiv preprint arXiv:2307.15287},
  year   = {2024}
}

Comments

Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

R2 v1 2026-06-28T11:42:31.170Z