Autonomous vehicle operations with automated assistance

Abstract

Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle includes: one or more onboard sensing devices, one or more onboard actuators, and a controller that, by a processor, obtains sensor data from the one or more sensing devices, identifies an assistance event based at least in part on the sensor data, determines an automated response to the assistance event basedat least in part on the sensor data and an autonomous assistance policy, and autonomously operates the one or more actuators onboard the vehicle in accordance with the automated response. In exemplaryembodiments, the autonomous assistance policy is determined using inverse reinforcement learning to optimize a reward function and mimic a remote human assistor.

Description

technical field [0001] The present disclosure relates generally to autonomous vehicles, and more particularly to systems and methods for autonomously controlling a vehicle using a policy determined using inverse reinforcement learning. Background technique [0002] An autonomous vehicle is one that is able to sense its environment and navigate with little or no user input. An autonomous vehicle senses its environment using sensing devices such as radar, lidar, image sensors, etc. Autonomous vehicle systems further use information from global positioning system (GPS) technology, navigation systems, vehicle-to-vehicle communications, vehicle-to-infrastructure technology, and / or drive-by-wire systems to navigate the vehicle. [0003] Vehicle automation has been classified on a numerical scale ranging from zero (corresponding to no automation with full human control) to five (corresponding to full automation with no human control). Various automatic driver assistance systems, ...

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Problems solved by technology

However, reliance on remote assistance can also raise concerns abou

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