A reinforcement learning based autonomous vehicle control in diverse daytime and weather scenarios
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Autonomous driving holds significant promise for substantially reducing road fatalities. Unlike traditional machine learning methods that have conventionally been applied to enhance the motion control of Autonomous Vehicles (AVs), recent attention has shifted toward the utilization of Deep Learning (DL) and Deep Reinforcement Learning (DRL) techniques. These advanced approaches have the potential to greatly improve AV vehicle control and empower vehicles to learn from their surroundings. However, the majority of existing research has concentrated on straightforward scenarios, often neglecting the intricate challenges posed by vulnerable road users such as pedestrians, cyclists, and motorcyclists, as well as the influence of varying weather conditions. In this study, we propose a novel model founded on DRL, specifically leveraging Deep-Q Networks (DQN), to effectively manage AVs in complex scenarios characterized by heavy traffic, diverse road users, and diverse weather conditions. Our approach involves training the model in diverse weather conditions, encompassing clear daytime and nighttime as well as challenging weather conditions like heavy rainfall during both the day and sunset. Through this comprehensive training, the AV becomes proficient in navigating safely through intersections and reaching its destination without any accidents. To rigorously evaluate and validate our proposed approach, extensive testing was conducted employing the CARLA simulator. The simulation results unequivocally demonstrate that our model not only reduces travel delays but also minimizes the occurrence of collisions, marking a significant step forward in achieving safer and more efficient autonomous driving.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it