%0 Journal Article %1 Li2021-zi %A Li, Dianzhao %A Okhrin, Ostap %D 2021 %I arXiv %K %T Modified DDPG car-following model with a real-world human driving experience with CARLA simulator %X In the autonomous driving field, fusion of human knowledge into Deep Reinforcement Learning (DRL) is often based on the human demonstration recorded in a simulated environment. This limits the generalization and the feasibility of application in real-world traffic. We propose a two-stage DRL method to train a car-following agent, that modifies the policy by leveraging the real-world human driving experience and achieves performance superior to the pure DRL agent. Training a DRL agent is done within CARLA framework with Robot Operating System (ROS). For evaluation, we designed different driving scenarios to compare the proposed two-stage DRL car-following agent with other agents. After extracting the ``good'' behavior from the human driver, the agent becomes more efficient and reasonable, which makes this autonomous agent more suitable for Human-Robot Interaction (HRI) traffic.

@article{Li2021-zi, abstract = {In the autonomous driving field, fusion of human knowledge into Deep Reinforcement Learning (DRL) is often based on the human demonstration recorded in a simulated environment. This limits the generalization and the feasibility of application in real-world traffic. We propose a two-stage DRL method to train a car-following agent, that modifies the policy by leveraging the real-world human driving experience and achieves performance superior to the pure DRL agent. Training a DRL agent is done within CARLA framework with Robot Operating System (ROS). For evaluation, we designed different driving scenarios to compare the proposed two-stage DRL car-following agent with other agents. After extracting the ``good'' behavior from the human driver, the agent becomes more efficient and reasonable, which makes this autonomous agent more suitable for Human-Robot Interaction (HRI) traffic.}, added-at = {2024-09-10T11:56:37.000+0200}, author = {Li, Dianzhao and Okhrin, Ostap}, biburl = {https://puma.scadsai.uni-leipzig.de/bibtex/26edb243ad15f5587eb9298b93a5415d4/scadsfct}, interhash = {006dcfac8f68271dcf8c74a2d3b8cdec}, intrahash = {6edb243ad15f5587eb9298b93a5415d4}, keywords = {}, publisher = {arXiv}, timestamp = {2024-09-10T15:15:57.000+0200}, title = {Modified {DDPG} car-following model with a real-world human driving experience with {CARLA} simulator}, year = 2021 }