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Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control
Joint Authors
Li, Wenfei
Huang, Hui
Fang, Wenqi
Zhang, Shitian
Dang, Shaobo
Huang, Zhejun
Sun, Tianfu
Li, Huiyun
Wang, Zheng
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-28
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Autonomous driving is a popular and promising field in artificial intelligence.
Rapid decision of the next action according to the latest few actions and status, such as acceleration, brake, and steering angle, is a major concern for autonomous driving.
There are some learning methods, such as reinforcement learning which automatically learns the decision.
However, it usually requires large volume of samples.
In this paper, to reduce the sample size, we exploit the deep Gaussian process, where a regression model is trained on small sample datasets and captures the most significant features correctly.
Besides, to realize the real-time and close-loop control, we combine the feedback control into the process.
Experimental results on the Torcs simulation engine illustrate smooth driving on virtual road which can be achieved.
Compared with the amount of training data in deep reinforcement learning, our method uses only 0.34% of its size and obtains similar simulation results.
It may be useful for real road tests in the future.
American Psychological Association (APA)
Fang, Wenqi& Zhang, Shitian& Huang, Hui& Dang, Shaobo& Huang, Zhejun& Li, Wenfei…[et al.]. 2020. Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1176118
Modern Language Association (MLA)
Fang, Wenqi…[et al.]. Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control. Journal of Advanced Transportation No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1176118
American Medical Association (AMA)
Fang, Wenqi& Zhang, Shitian& Huang, Hui& Dang, Shaobo& Huang, Zhejun& Li, Wenfei…[et al.]. Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1176118
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1176118