Steinecker, Thomas (University of the Bundeswehr Munich), Luettel, Thorsten (Universität der Bundeswehr München), Maehlisch, Mirko (University of German Military Forces Munich)

Collision Probability Distribution Estimation via Temporal Difference Learning

Scheduled for presentation during the Regular Session "Generating driving scenarios I" (ThBT11), Thursday, September 26, 2024, 14:30−14:50, Salon 19/20

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 December 26, 2024

Abstract

We introduce CollisionPro, a pioneering framework designed to estimate cumulative collision probability distributions using temporal difference learning, specifically tailored to applications in robotics, with a particular emphasis on autonomous driving. This approach addresses the demand for explainable artificial intelligence (XAI) and seeks to overcome limitations imposed by model-based approaches and conservative constraints. We formulate our framework within the context of reinforcement learning to pave the way for safety-aware agents. Nevertheless, we assert that our approach could prove beneficial in various contexts, including a safety alert system or analytical purposes. A comprehensive examination of our framework is conducted using a realistic autonomous driving simulator, illustrating its high sample efficiency and reliable prediction capabilities for previously unseen collision events. The source code is publicly available.