Xing, Jiaming (Tongji University), DU, HAOYANG (Tongji University), Wei, Dengwei (Tongji University), Zhang, Xinyu (Tongji University), cui, yixin (Jilin University), Huang, Yanjun (Tongji University)

Meta Reinforcement Learning for Autonomous Driving with Rapid Adaptation to Drivers

Scheduled for presentation during the Invited Session "Data-driven and Learning-based Control Techniques for Intelligent Vehicles" (FrAT1), Friday, September 27, 2024, 11:50−12:10, Salon 1

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 8, 2024

Abstract

The development of autonomous driving is propelling mobility into a new era of innovation. However, existing autonomous driving systems struggle to adapt to various drivers with diverse habits and behaviors, compared with simply catering to a few fixed driving styles. As a result, this paper combines meta-learning and reinforcement learning (RL) to propose an autonomous driving algorithm for personalized decision-making and control, i.e., MetaRL-AD algorithm. MetaRL-AD utilizes the off-policy RL to improve the sample efficiency. In addition, a training cycle sampling method is adopted to improve the stability and generalization, which significantly reduces the time to personalization. It is demonstrated that in an environment with high vehicle density, the method proposed in this paper increases the convergence speed by up to a factor of 8 without any rules or knowledge assistance. The results are available as videos at https://youtu.be/3VVHBz92xnQ.