Equipping With Cognition: Interactive Motion Planning Using Metacognitive-Attribution Inspired Reinforcement Learning for Autonomous Vehicles

This study introduces the Metacognitive-Attribution Inspired Reinforcement Learning (MAIRL) approach, designed to address unprotected interactive left turns at intersections-one of the most challenging tasks in autonomous driving. By integrating the Metacognitive Theory and Attribution Theory from the psychology field with reinforcement learning, this study enriches the learning mechanisms of autonomous vehicles with human cognitive processes. Specifically, it applies Metacognitive Theory's three core elements-Metacognitive Knowledge, Metacognitive Monitoring, and Metacognitive Reflection-to enhance the control framework's capabilities in skill differentiation, real-time assessment, and adaptive learning for interactive motion planning. Furthermore, inspired by Attribution Theory, it decomposes the reward system in RL algorithms into three components: 1) skill improvement, 2) existing ability, and 3) environmental stochasticity. This framework emulates human learning and behavior adjustment, incorporating a deeper cognitive emulation into reinforcement algorithms to foster a unified cognitive structure and control strategy. Contrastive tests conducted in various intersection scenarios with differing traffic densities demonstrated the superior performance of the proposed controller, which outperformed baseline algorithms in success rates and had lower collision and timeout incidents. This interdisciplinary approach not only enhances the understanding and applicability of RL algorithms but also represents a meaningful step towards modeling advanced human cognitive processes in the field of autonomous driving.