具有人类信任的自动驾驶汽车规划

IF 2 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Shili Sheng, Erfan Pakdamanian, Kyungtae Han, Ziran Wang, John K. Lenneman, David Parker, Lu Feng
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引用次数: 3

摘要

最近的工作考虑了基于用户档案的个性化路线规划,但没有一项考虑到人类的信任。我们认为,在规划自动化车辆路线时,人类的信任是一个需要考虑的重要因素。本文提出了一种基于信任的自动化车辆路线规划方法。我们将人-车交互形式化为部分可观察的马尔可夫决策过程(POMDP),并将信任建模为POMDP的部分可观察状态变量,表示人类隐藏的心理状态。我们使用从亚马逊机械土耳其平台上的100名参与者的在线用户研究中收集的数据,建立了人类信任动态和收购决策的数据驱动模型,这些模型被纳入POMDP框架。我们通过求解POMDP规划中的最优策略来计算自动化车辆的最优路线,并通过在驾驶模拟器上对22名参与者进行的人体实验来评估由此产生的路线。实验结果表明,与基线(无信任)路线的参与者相比,采用基于信任路线的参与者在驾驶后调查中通常报告了更多的积极反应。此外,我们还通过POMDP的多目标优化分析了多个规划目标(如信任、距离、能耗)之间的权衡。我们还确定了一系列悬而未决的问题,以及在自动化车辆中部署所提出方法的现实意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Planning for Automated Vehicles with Human Trust
Recent work has considered personalized route planning based on user profiles, but none of it accounts for human trust. We argue that human trust is an important factor to consider when planning routes for automated vehicles. This article presents a trust-based route-planning approach for automated vehicles. We formalize the human-vehicle interaction as a partially observable Markov decision process (POMDP) and model trust as a partially observable state variable of the POMDP, representing the human’s hidden mental state. We build data-driven models of human trust dynamics and takeover decisions, which are incorporated in the POMDP framework, using data collected from an online user study with 100 participants on the Amazon Mechanical Turk platform. We compute optimal routes for automated vehicles by solving optimal policies in the POMDP planning and evaluate the resulting routes via human subject experiments with 22 participants on a driving simulator. The experimental results show that participants taking the trust-based route generally reported more positive responses in the after-driving survey than those taking the baseline (trust-free) route. In addition, we analyze the trade-offs between multiple planning objectives (e.g., trust, distance, energy consumption) via multi-objective optimization of the POMDP. We also identify a set of open issues and implications for real-world deployment of the proposed approach in automated vehicles.
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来源期刊
ACM Transactions on Cyber-Physical Systems
ACM Transactions on Cyber-Physical Systems COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS-
CiteScore
5.70
自引率
4.30%
发文量
40
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