Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Driving-Policy Adaptive Safeguard for Autonomous Vehicles Using
  Reinforcement Learning   Safeguard functions such as those provided by advanced emergency braking
(AEB) can provide another layer of safety for autonomous vehicles (AV). A smart
safeguard function should adapt the activation conditions to the driving
policy, to avoid unnecessary interventions as well as improve vehicle safety.
This paper proposes a driving-policy adaptive safeguard (DPAS) design,
including a collision avoidance strategy and an activation function. The
collision avoidance strategy is designed in a reinforcement learning framework,
obtained by Monte-Carlo Tree Search (MCTS). It can learn from past collisions
and manipulate both braking and steering in stochastic traffics. The
driving-policy adaptive activation function should dynamically assess current
driving policy risk and kick in when an urgent threat is detected. To generate
this activation function, MCTS' exploration and rollout modules are designed to
fully evaluate the AV's current driving policy, and then explore other safer
actions. In this study, the DPAS is validated with two typical highway-driving
policies. The results are obtained through and 90,000 times in the stochastic
and aggressive simulated traffic. The results are calibrated by naturalistic
driving data and show that the proposed safeguard reduces the collision rate
significantly without introducing more interventions, compared with the
state-based benchmark safeguards. In summary, the proposed safeguard leverages
the learning-based method in stochastic and emergent scenarios and imposes
minimal influence on the driving policy.

18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
20
The categories of this paper are: acc-phys
23
The categories of this paper are: solv-int
26
The categories of this paper are: bayes-an
27
The categories of this paper are: comp-gas
2
The categories of this paper are: math
33
The categories of this paper are: plasm-ph
37
The categories of this paper are: supr-con
21
The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
24
The categories of this paper are: dg-ga