Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great focus on crash prevention. In this paper, we propose a novel state representation for Reinforcement Learning (RL) agents centered around the information perceivable by an autonomous agent, enabling the safe navigation of previously uncharted road maps. Our approach surpasses several baseline models by a sig nificant margin in terms of safety and energy consumption metrics. These improvements are achieved while maintaining a competitive average travel speed. Our findings pave the way for more robust and reliable autonomous navigation strategies, promising safer and more efficient urban traffic environments.
@article{arxiv.2407.04343,
title = {Enhancing Safety for Autonomous Agents in Partly Concealed Urban Traffic Environments Through Representation-Based Shielding},
author = {Pierre Haritz and David Wanke and Thomas Liebig},
journal= {arXiv preprint arXiv:2407.04343},
year = {2024}
}