Autonomous Driving Control Using the DDPG and RDPG Algorithms

Abstract

Recently, autonomous driving has become one of the most popular topics for smart vehicles. However, traditional control strategies are mostly rule-based, which have poor adaptability to the time-varying traffic conditions. Similarly, they have difficulty coping with unexpected situations that may occur any time in the real-world environment. Hence, in this paper, we exploited Deep Reinforcement Learning (DRL) to enhance the quality and safety of autonomous driving control. Based on the road scenes and self-driving simulation modules provided by AirSim, we used the Deep Deterministic Policy Gradient (DDPG) and Recurrent Deterministic Policy Gradient (RDPG) algorithms, combined with the Convolutional Neural Network (CNN), to realize the autonomous driving control of self-driving cars. In particular, by using the real-time images of the road provided by AirSim as the training data, we carefully formulated an appropriate reward-generation method to improve the convergence speed of the adopted DDPG and RDPG models and the control performance of moving driverless cars.

Keywords

• autonomous driving
• Deep Deterministic Policy Gradient (DDPG)
• Recurrent Deterministic Policy Gradient (RDPG)