Policy-Oriented Cognitive Risk Map Modeling for Lane Change via Deep Successor Representation

Risk assessment plays an essential role in the improvement of driving safety for intelligent vehicles. Current methods ignoring the predictive and personalized impact of driving policies weaken the effectiveness of risk assessment and lead to human-machine conflicts. By combining subjective cognition of drivers and objective risk metrics, a policy-oriented cognitive risk map (POCRM) is proposed in this paper to encode different driving policies in risk assessment for lane-changing scenarios. To obtain the objective safety metrics, insecurity quantification is built based on the fuzzy theory and fault tree analysis. The subjective cognition of drivers for different driving policies is modeled by deep successor representation and encoded in POCRM using deep reinforcement learning. Driving data collected from the public dataset for realistic traffic environment are used to evaluate the proposed POCRM. The experimental results show that the risk map can take into account future risks and provide driving advice that balances human-machine conflicts with safety in scenarios where drivers can or cannot correctly perceive risk.