Deep Distributional Reinforcement Learning Based High Level Driving Policy Determination
- Title
- Deep Distributional Reinforcement Learning Based High Level Driving Policy Determination
- Author
- 허건수
- Keywords
- Distributional reinforcement learning; policy determination; highway driving
- Issue Date
- 2019-09
- Publisher
- IEEE
- Citation
- IEEE Transactions on Intelligent Vehicles, v. 4, no. 3, Page. 416-424
- Abstract
- Even though some of the driver assistant systems have been commercialized to provide safety and convenience to the driver, they can be applied for autonomous driving in limited situations such as highways. In this paper, we propose a supervisor agent that can enhance the driver assistant systems by using deep distributional reinforcement learning. The supervisor agent is trained using end-to-end approach that directly maps both a camera image and LIDAR data into action plan. Because the well-trained network of deep reinforcement learning can lead to unexpected actions, collision avoidance function is added to prevent dangerous situations. In addition, the highway driving case is a stochastic environment with inherent randomness and, thus, its training is performed through the distributional reinforcement learning algorithm, which is specialized for stochastic environment. The optimal action for autonomous driving is selected through the return value distribution. Finally, the proposed algorithm is verified through a highway driving simulator, which is implemented by the Unity ML-agents.
- URI
- https://ieeexplore.ieee.org/document/8723635https://repository.hanyang.ac.kr/handle/20.500.11754/153989
- ISSN
- 2379-8858; 2379-8904
- DOI
- 10.1109/TIV.2019.2919467
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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