Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling
Nathan Ludlow,Yiwei Lyu,John Dolan,Nathan Ludlow,Yiwei Lyu,John Dolan
This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware estimation framework with learned parameters to generate human-like driving trajectories, accommodating multiple driver levels determined by model parameters. Thi...
