Adversarial Trajectories Generation for Automotive Applications

Turlej, Wojciech; Pankiewicz, Nikodem

doi:10.1109/mmar49549.2021.9528492

Cited by 1 publication

(1 citation statement)

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“…While the errors introduced in the SM environment in this study were severe enough to expose the hazards, realistic sensor errors observed in good weather and lighting conditions may not be sufficient to trigger safety-critical errors in the evaluation with real-world data. Possible ways to alleviate this issue include testing in various SM environments, or the use of automatically-generated adversarial test scenarios to ensure good coverage of edge cases [25].…”

Section: Discussionmentioning

confidence: 99%

High-Level Sensor Models for the Reinforcement Learning Driving Policy Training

Turlej

2022

Electronics

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Performance limitations of automotive sensors and the resulting perception errors are one of the most critical limitations in the design of Advanced Driver Assistance Systems and Autonomous Driving Systems. Ability to efficiently recreate realistic error patterns in a traffic simulation setup not only helps to ensure that such systems operate correctly in presence of perception errors, but also fulfills a key role in the training of Machine-Learning-based algorithms often utilized in them. This paper proposes a set of efficient sensor models for detecting road users and static road features. Applicability of the models is presented on an example of Reinforcement-Learning-based driving policy training. Experimental results demonstrate a significant increase in the policy’s robustness to perception errors, alleviating issues caused by the differences between the virtual traffic environment used in the policy’s training and the realistic conditions.

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Section: Discussionmentioning

confidence: 99%