Cost-Based Non-deep Learning for Planning and Decision-Making Towards Enhancing Autonomous Driving’s Safety and Comfort

Shihao Gan, Siyao Wu, Yang Luo, Fan Zhang*

*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

Abstract

In pursuit of enhancing driving safety while controlling and reducing vehicle and testing costs, our research explores advanced decision logic for autonomous driving. This study integrates foundational algorithms and employs a suite of tools, including MATLAB, Simulink, Prescan, and CarSim, to develop a comprehensive virtual simulation testing environment. Within this virtual platform, we create and test various environmental parameters and vehicle states to simulate real-world driving conditions accurately. Our core cost-based decision-making algorithm processes perceptual results to calculate the “cost,” which then informs driving decisions and planning. By default, the planning tried not to decelerate, but maintained acceleration changes as smooth as possible, which leading to unsafe scenarios such as driving off-road to go around the obstacles. In contrast, we proposed an explainable algorithm that could effectively balances safety and comfort, ensuring safer driving outcomes. Furthermore, our work could contribute to the field of Explainable Artificial Intelligence in Autonomous Driving by providing a robust framework for testing and optimizing decision logic, ultimately leading to the development of safe and efficient autonomous vehicles.

Original languageEnglish
Title of host publicationSelected Proceedings from the 2nd International Conference on Intelligent Manufacturing and Robotics, ICIMR 2024 - Advances in Intelligent Manufacturing and Robotics
EditorsWei Chen, Andrew Huey Ping Tan, Yang Luo, Long Huang, Yuyi Zhu, Anwar PP Abdul Majeed, Fan Zhang, Yuyao Yan, Chenguang Liu
PublisherSpringer Science and Business Media Deutschland GmbH
Pages234-252
Number of pages19
ISBN (Print)9789819639489
DOIs
Publication statusPublished - 2025
Event2nd International Conference on Intelligent Manufacturing and Robotics, ICIMR 2024 - Suzhou, China
Duration: 22 Aug 202423 Aug 2024

Publication series

NameLecture Notes in Networks and Systems
Volume1316 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference2nd International Conference on Intelligent Manufacturing and Robotics, ICIMR 2024
Country/TerritoryChina
CitySuzhou
Period22/08/2423/08/24

Keywords

  • Autonomous Driving
  • Decision-making
  • Dynamic Planning
  • Explainable Artificial Intelligence
  • Safety-comfort Trade-off

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