DeepAI AI Chat
Log In Sign Up

Tackling Real-World Autonomous Driving using Deep Reinforcement Learning

07/05/2022
by   Paolo Maramotti, et al.
UNIVERSITÀ DEGLI STUDI DI PARMA
0

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable self-driving behavior. In particular, the planning module predicts the path the autonomous car should follow taking the correct high-level maneuver, while control systems perform a sequence of low-level actions, controlling steering angle, throttle and brake. In this work, we propose a model-free Deep Reinforcement Learning Planner training a neural network that predicts both acceleration and steering angle, thus obtaining a single module able to drive the vehicle using the data processed by localization and perception algorithms on board of the self-driving car. In particular, the system that was fully trained in simulation is able to drive smoothly and safely in obstacle-free environments both in simulation and in a real-world urban area of the city of Parma, proving that the system features good generalization capabilities also driving in those parts outside the training scenarios. Moreover, in order to deploy the system on board of the real self-driving car and to reduce the gap between simulated and real-world performances, we also develop a module represented by a tiny neural network able to reproduce the real vehicle dynamic behavior during the training in simulation.

READ FULL TEXT

page 1

page 3

05/13/2020

From Simulation to Real World Maneuver Execution using Deep Reinforcement Learning

Deep Reinforcement Learning has proved to be able to solve many control ...
07/01/2022

Data generation using simulation technology to improve perception mechanism of autonomous vehicles

Recent advancements in computer graphics technology allow more realistic...
11/09/2020

Safe Trajectory Planning Using Reinforcement Learning for Self Driving

Self-driving vehicles must be able to act intelligently in diverse and d...
01/03/2020

Intelligent Roundabout Insertion using Deep Reinforcement Learning

An important topic in the autonomous driving research is the development...
07/01/2018

Learning to Drive in a Day

We demonstrate the first application of deep reinforcement learning to a...
05/19/2022

Image-Based Conditioning for Action Policy Smoothness in Autonomous Miniature Car Racing with Reinforcement Learning

In recent years, deep reinforcement learning has achieved significant re...
02/11/2019

Latent Space Reinforcement Learning for Steering Angle Prediction

Model-free reinforcement learning has recently been shown to successfull...