Deep Learning and Control Algorithms of Direct Perception for Autonomous Driving [article]

Der-Hau Lee, Kuan-Lin Chen, Kuan-Han Liou, Chang-Lun Liu, Jinn-Liang Liu
2019 arXiv   pre-print
Based on the direct perception paradigm of autonomous driving, we investigate and modify the CNNs (convolutional neural networks) AlexNet and GoogLeNet that map an input image to few perception indicators (heading angle, distances to preceding cars, and distance to road centerline) for estimating driving affordances in highway traffic. We also design a controller with these indicators and the short-range sensor information of TORCS (the open racing car simulator) for driving simulated cars to
more » ... oid collisions. We collect a set of images from a TORCS camera in various driving scenarios, train these CNNs using the dataset, test them in unseen traffics, and find that they perform better than earlier algorithms and controllers in terms of training efficiency and driving stability. Source code and data are available on our website.
arXiv:1910.12031v2 fatcat:npwy33pr6nfglkh3otsr3mb5se