Virtual Autonomous Vehicle Using Deep Reinforcement Learning

5 Pages Posted: 26 May 2020

See all articles by Vanita Jain

Vanita Jain

Bharati Vidyapeeth's College of Engineering

Aditya Chaudhry

Bharati Vidyapeeth's College of Engineering

Manas Batra

Bharati Vidyapeeth's College of Engineering

Prakhar Gupta

Bharati Vidyapeeth's College of Engineering

Date Written: May 22, 2020

Abstract

In this paper, we propose an in-depth reinforcement learning approach to evaluate the performance of the virtually created autonomous vehicle driving scenario. Markov Decision Process is used to map the state of the vehicle to an action. Discount and Reward functions are also incorporated in the decision policy. To deal with high-dimensional inputs which lead to the standard instabilities of reinforcement learning, we have used experience replay. To further reduce the correlation, we use an iterative update that updates the Q-values periodically. Adam Optimizer, based on stochastic objective functions, is used as an optimizer in a neural network along with Rectified Linear Unit activation function, which helps in further optimizing the process. The autonomous vehicle doesn't need any labelled training data to learn human driving behaviour. Inspired by the real-world scenarios, an action-based reward function is used to train the vehicle. It has been shown in our approach that after some iterations, the virtually created vehicle generates collision-free movement and performs the same driving behaviour as of humans.

Keywords: Reinforcement learning; Markov decision process; Adam optimizer; Rectified linear unit activation function

Suggested Citation

Jain, Vanita and Chaudhry, Aditya and Batra, Manas and Gupta, Prakhar, Virtual Autonomous Vehicle Using Deep Reinforcement Learning (May 22, 2020). Proceedings of the International Conference on Innovative Computing & Communications (ICICC) 2020, Available at SSRN: https://ssrn.com/abstract=3607824 or http://dx.doi.org/10.2139/ssrn.3607824

Vanita Jain (Contact Author)

Bharati Vidyapeeth's College of Engineering ( email )

A-4, Paschim Vihar
New Delhi, 110063
India

Aditya Chaudhry

Bharati Vidyapeeth's College of Engineering ( email )

A-4, Paschim Vihar
New Delhi, 110063
India

Manas Batra

Bharati Vidyapeeth's College of Engineering ( email )

A-4, Paschim Vihar
New Delhi, 110063
India

Prakhar Gupta

Bharati Vidyapeeth's College of Engineering ( email )

A-4, Paschim Vihar
New Delhi, 110063
India

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