scholarly journals Hybrid Verification Technique for Decision-Making of Self-Driving Vehicles

2021 ◽  
Vol 10 (3) ◽  
pp. 42
Author(s):  
Mohammed Al-Nuaimi ◽  
Sapto Wibowo ◽  
Hongyang Qu ◽  
Jonathan Aitken ◽  
Sandor Veres
Keyword(s):  
Decision Making ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Practical Implementation ◽  
Model Checker ◽  
Multi Agent Systems ◽  
Time Operation ◽  
Bdi Agent ◽  
Perception System ◽  
Probability Of Success

The evolution of driving technology has recently progressed from active safety features and ADAS systems to fully sensor-guided autonomous driving. Bringing such a vehicle to market requires not only simulation and testing but formal verification to account for all possible traffic scenarios. A new verification approach, which combines the use of two well-known model checkers: model checker for multi-agent systems (MCMAS) and probabilistic model checker (PRISM), is presented for this purpose. The overall structure of our autonomous vehicle (AV) system consists of: (1) A perception system of sensors that feeds data into (2) a rational agent (RA) based on a belief–desire–intention (BDI) architecture, which uses a model of the environment and is connected to the RA for verification of decision-making, and (3) a feedback control systems for following a self-planned path. MCMAS is used to check the consistency and stability of the BDI agent logic during design-time. PRISM is used to provide the RA with the probability of success while it decides to take action during run-time operation. This allows the RA to select movements of the highest probability of success from several generated alternatives. This framework has been tested on a new AV software platform built using the robot operating system (ROS) and virtual reality (VR) Gazebo Simulator. It also includes a parking lot scenario to test the feasibility of this approach in a realistic environment. A practical implementation of the AV system was also carried out on the experimental testbed.

scholarly journals Research on Comparison of LiDAR and Camera in Autonomous Driving

2021 ◽  
Vol 2093 (1) ◽  
pp. 012032
Author(s):  
Peide Wang
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Driving ◽  
Environmental Perception ◽  
Information Collection ◽  
Digital Signals ◽  
Perception System ◽  
Key Technologies ◽  
And Control ◽  
Research Hotspots

Abstract With the improvement of vehicles automation, autonomous vehicles become one of the research hotspots. Key technologies of autonomous vehicles mainly include perception, decision-making, and control. Among them, the environmental perception system, which can convert the physical world’s information collection into digital signals, is the basis of the hardware architecture of autonomous vehicles. At present, there are two major schools in the field of environmental perception: camera which is dominated by computer vision and LiDAR. This paper analyzes and compares the two majors schools in the field of environmental perception and concludes that multi-sensor fusion is the solution for future autonomous driving.

scholarly journals Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection

2016 ◽  
Vol 2016 ◽  
pp. 1-15 ◽  
Author(s):  
Weilong Song ◽  
Guangming Xiong ◽  
Huiyan Chen
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Driving Simulator ◽  
Autonomous Vehicle ◽  
Transition Process ◽  
Autonomous Driving ◽  
Driving Safety ◽  
Time Step ◽  
Reward Function ◽  
Pass Through

Autonomous vehicles need to perform social accepted behaviors in complex urban scenarios including human-driven vehicles with uncertain intentions. This leads to many difficult decision-making problems, such as deciding a lane change maneuver and generating policies to pass through intersections. In this paper, we propose an intention-aware decision-making algorithm to solve this challenging problem in an uncontrolled intersection scenario. In order to consider uncertain intentions, we first develop a continuous hidden Markov model to predict both the high-level motion intention (e.g., turn right, turn left, and go straight) and the low level interaction intentions (e.g., yield status for related vehicles). Then a partially observable Markov decision process (POMDP) is built to model the general decision-making framework. Due to the difficulty in solving POMDP, we use proper assumptions and approximations to simplify this problem. A human-like policy generation mechanism is used to generate the possible candidates. Human-driven vehicles’ future motion model is proposed to be applied in state transition process and the intention is updated during each prediction time step. The reward function, which considers the driving safety, traffic laws, time efficiency, and so forth, is designed to calculate the optimal policy. Finally, our method is evaluated in simulation with PreScan software and a driving simulator. The experiments show that our method could lead autonomous vehicle to pass through uncontrolled intersections safely and efficiently.

scholarly journals Research prospect of autonomous driving decision technology under complex traffic scenarios

2022 ◽  
Vol 355 ◽  
pp. 03031
Author(s):  
Yaoguang Cao ◽  
Yuyi Chen ◽  
Lu Liu
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Urban Traffic ◽  
Knowledge Map ◽  
Autonomous Decision ◽  
Decision Making System ◽  
Research Prospect ◽  
Safety And Stability

Decision-making system is the essential part of the autonomous vehicle “brain”, which determines the safety and stability of vehicles, and is also the key to reflect the intelligent level of autonomous vehicles. Compared with simple scenarios such as expressway, urban traffic scenarios have the characteristics of complex and frequent interaction between traffic participants. Carrying out in-depth research on complex traffic scenarios and optimizing autonomous decision-making algorithms are the key methods for the purpose of promoting the application of autonomous driving technologies. In the future, we can further combine the artificial intelligence methods such as cognitive or knowledge map, behaviour prediction of traffic participants, and humanoid intelligence, so as to enhance the intelligent level of autonomous driving.

Communicative Transformation of Professional Values of Modern Scientific Communities

Communicology ◽  
2020 ◽  
Vol 8 (2) ◽  
pp. 15-24
Author(s):  
A.S. Proskurina
Keyword(s):  
Decision Making ◽  
Professional Ethics ◽  
Scientific Work ◽  
Professional Values ◽  
The Internet ◽  
Practical Implementation ◽  
Scientific Communities ◽  
Neoliberal Reforms ◽  
Communication Practices ◽  
The Relationship

Today ethics is embodied not only in day-to-day life, but also in the communication that surrounds it. The study of communication in professional communities makes it possible to determine the relationship between declared and practically embodied values in work. Ethical attitudes are not only postulates embedded in ethical codes, but also principles of interaction embodied in the construction of the information space and decision-making. Features of modern communications influence the way professional ethics is structured, which, in turn, affects its content and practical implementation. The communication through the Internet makes scientific work performative, filling it with symbols and labels. Increasingly, communication practices have to be carried out around indicators, and thus communication becomes a conductor of neoliberal reforms in scientific work. Therefore, the consequence of modern forms of communication is the forced utilitarianism of ethics associated with the need to compete in the “scientific market”. The article suggests possible ways to overcome the contradictions of communicative transformations of professional values.

scholarly journals Legal and Technical Feasibility of the GDPR’s Quest for Explanation of Algorithmic Decisions: of Black Boxes, White Boxes and Fata Morganas

2020 ◽  
Vol 11 (1) ◽  
pp. 18-50 ◽  
Author(s):  
Maja BRKAN ◽  
Grégory BONNET
Keyword(s):  
Decision Making ◽  
Interdisciplinary Approach ◽  
Practical Implementation ◽  
General Data Protection Regulation ◽  
Legal Limits ◽  
Black Boxes ◽  
General Data ◽  
The Subject ◽  
The Right ◽  
Automated Decision Making

Understanding of the causes and correlations for algorithmic decisions is currently one of the major challenges of computer science, addressed under an umbrella term “explainable AI (XAI)”. Being able to explain an AI-based system may help to make algorithmic decisions more satisfying and acceptable, to better control and update AI-based systems in case of failure, to build more accurate models, and to discover new knowledge directly or indirectly. On the legal side, the question whether the General Data Protection Regulation (GDPR) provides data subjects with the right to explanation in case of automated decision-making has equally been the subject of a heated doctrinal debate. While arguing that the right to explanation in the GDPR should be a result of interpretative analysis of several GDPR provisions jointly, the authors move this debate forward by discussing the technical and legal feasibility of the explanation of algorithmic decisions. Legal limits, in particular the secrecy of algorithms, as well as technical obstacles could potentially obstruct the practical implementation of this right. By adopting an interdisciplinary approach, the authors explore not only whether it is possible to translate the EU legal requirements for an explanation into the actual machine learning decision-making, but also whether those limitations can shape the way the legal right is used in practice.

Eupsychian Versus Authoritarian Leadership: Existential–Humanistic Underpinnings and Empirical Support

2021 ◽  
pp. 002216782110106
Author(s):  
Andrew M. Bland ◽  
Brett A. Swords
Keyword(s):  
Decision Making ◽  
Qualitative Study ◽  
Perspective Taking ◽  
Empirical Support ◽  
Self Determination ◽  
Practical Implementation ◽  
Applied Psychology ◽  
Authoritarian Leadership ◽  
Cultural Conditions ◽  
Psychology Literature

This article surveys Maslow’s views on eupsychian leadership and how his vision of eupsychia may be regarded as a contemporary expression of the Greek philosophical notion of the Good. This involves actively and ongoingly cultivating cultural conditions that promote awe-based creative living in accordance with human nature, authentic freedom, and social justice in the interest of developing character via self-determination. Then we outline essential qualities of Maslow’s notion of eupsychia as they have been empirically validated by Rego et al.’s qualitative study of the characteristics and outcomes of eupsychian (humanistic) versus antieupsychian (authoritarian) leadership. The findings thereof also provide a heuristic framework for integrating the results of numerous quantitatively-based research studies in recent international applied psychology literature. This applied leadership literature both (a) satisfies Maslow’s call for empirical research to guide perspective-taking and decision-making when considering the possible practical implementation of a eupsychian society and (b) provides empirical support for his dynamic systemic and synergistic theorizing on leadership.

Transfer Reinforcement Learning for Autonomous Driving

2021 ◽  
Vol 31 (3) ◽  
pp. 1-26
Author(s):  
Aravind Balakrishnan ◽  
Jaeyoung Lee ◽  
Ashish Gaurav ◽  
Krzysztof Czarnecki ◽  
Sean Sedwards
Keyword(s):  
Decision Making ◽  
Reinforcement Learning ◽  
Transfer Problem ◽  
Autonomous Driving ◽  
High Fidelity ◽  
Rule Based ◽  
High Level ◽  
Real Vehicle

Reinforcement learning (RL) is an attractive way to implement high-level decision-making policies for autonomous driving, but learning directly from a real vehicle or a high-fidelity simulator is variously infeasible. We therefore consider the problem of transfer reinforcement learning and study how a policy learned in a simple environment using WiseMove can be transferred to our high-fidelity simulator, W ise M ove . WiseMove is a framework to study safety and other aspects of RL for autonomous driving. W ise M ove accurately reproduces the dynamics and software stack of our real vehicle. We find that the accurately modelled perception errors in W ise M ove contribute the most to the transfer problem. These errors, when even naively modelled in WiseMove , provide an RL policy that performs better in W ise M ove than a hand-crafted rule-based policy. Applying domain randomization to the environment in WiseMove yields an even better policy. The final RL policy reduces the failures due to perception errors from 10% to 2.75%. We also observe that the RL policy has significantly less reliance on velocity compared to the rule-based policy, having learned that its measurement is unreliable.

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