Honda Motor Co., Ltd.
INTERPRETABLE AUTONOMOUS DRIVING SYSTEM AND METHOD THEREOF

Abstract:

In some examples, a dynamic system, including a vehicle, may be represented using a graph-based representation. One or more nodes in the graph-based representation may correspond to one or more agents in the dynamic system, and one or more edges between the nodes in the graph-based representation may correspond to one or more interactions between the agents in the dynamic system. The interactions may be defined based on human domain knowledge of the dynamic system. The dynamic system may be modeled using a respective machine learning model that includes a reward decoder that operates on the graph-based representation and evaluates one or more reward functions for the dynamic system. The one or more reward functions may be defined based on the human domain knowledge of the dynamic system. Autonomous operation of the vehicle may be controlled based on the modeling of the dynamic system.