Zachary Sunberg
Shoettle and Sivak, "A Preliminary Analysis of Real-World Crashes Involving Self-Driving Vehicles" UMTRI-2015-34
Two Objectives for Autonomy
Minimize resource use
(especially time)
Minimize the risk of harm to oneself and others
Safety often opposes Efficiency
Pareto Optimization
Safety
Better Performance
Model \(M_2\), Algorithm \(A_2\)
Model \(M_1\), Algorithm \(A_1\)
Efficiency
$$\underset{\pi}{\mathop{\text{maximize}}} \, V^\pi = V^\pi_\text{E} + \lambda V^\pi_\text{S}$$
Safety
Weight
Efficiency
Tweet by Nitin Gupta
29 April 2018
https://twitter.com/nitguptaa/status/990683818825736192
Overconfident MDP
Conservative MDP
Multiple lane change simulation results
[Sunberg, 2017]
Types of Uncertainty
OUTCOME
MODEL
STATE
All drivers normal
No learning (MDP)
Omniscient
Simulation results
[Sunberg, 2017]
POMCP
POMCP-DPW
POMCPOW
(Silver, 2010)
(Sunberg, 2017)
(Sunberg, 2018)
All drivers normal
No learning (MDP)
Omniscient
POMCPOW (Ours)
Simulation results
[Sunberg, 2017]