Deep Distributional Reinforcement Learning Based High-Level Driving Policy Determination

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, the authors 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.

• Record URL:
  https://doi.org/10.1109/TIV.2019.2919467
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2019, IEEE.
• Authors:
  • Min, Kyushik
  • Kim, Hayoung
  • Huh, Kunsoo
• Publication Date: 2019-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 416-424
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 4
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Algorithms; Autonomous vehicles; Driver support systems; Driving simulators; Machine learning
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01717689
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 20 2019 3:12PM