Safe and Interpretable Human-Like Planning With Transformer-Based Deep Inverse Reinforcement Learning for Autonomous Driving

Human-like decision-making and planning are crucial for advancing the decision-making level of autonomous driving and increasing acceptance in the autonomous vehicle market, as well as for achieving data closed loop for autonomous driving. However, human-like decision-making and planning methods still face challenges in safety and interpretability, particularly in multi-vehicle interaction scenarios. In light of this, this paper proposes an interpretable human-like decision-making and planning method with Transformer-based deep inverse reinforcement learning. The proposed method employs a Transformer encoder to extract features from the scenario and determine the attention assigned by the ego vehicle to each traffic vehicle, thereby improving the interpretability of planning outcomes. Furthermore, for improved safety in planning, the model is trained on both positive and negative expert demonstrations. The experimental results show that the proposed method enhances model safety while maintaining imitation levels compared to conventional methods. Additionally, the attention allocation results closely align with those of human drivers, indicating the model's ability to elucidate the importance of each traffic vehicle for decision-making and planning, thereby improving interpretability. Therefore, the proposed method not only ensures high levels of imitation and safety but also enhances interpretability by providing accurate attention allocation results for decision-making and planning. Note to Practitioners - This paper presents a method for enhancing the planning of autonomous vehicles by making it more interpretable and safer. Using Transformer-based deep reinforcement learning, the approach improves clarity by showing how the vehicle prioritizes other traffic participants and learning from both positive and negative examples. This not only enhances safety and decision accuracy but also provides insights into the vehicle's reasoning process, which is crucial for debugging and increasing user trust. Future work could focus on adapting this method for even more complex driving scenarios. © 2004-2012 IEEE.