To achieve fully autonomous driving, vehicles must be capable of continuously performing various driving tasks, including lane keeping and car following, both of which are fundamental and well-studied driving ones. However, previous studies have mainly focused on individual tasks, and car following tasks have typically relied on complete leader-follower information to attain optimal performance. To address this limitation, we propose a vision-based deep reinforcement learning (DRL) agent that can simultaneously perform lane keeping and car following maneuvers. To evaluate the performance of our DRL agent, we compare it with a baseline controller and use various performance metrics for quantitative analysis. Furthermore, we conduct a real-world evaluation to demonstrate the Sim2Real transfer capability of the trained DRL agent. To the best of our knowledge, our vision-based car following and lane keeping agent with Sim2Real transfer capability is the first of its kind. We have made the codes and the videos of the simulation and real-world evaluation accessible online11Code and videos are available on: https://github.com/DailyL/Sim2Realautonomous_vehicle.
%0 Conference Paper
%1 a26f0a0849ef4a32a6358c0b709982d3
%A Li, Dianzhao
%A Okhrin, Ostap
%B 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
%C United States of America
%D 2023
%I Institute of Electrical and Electronics Engineers Inc.
%K FIS_scads imported topic_engineering xack yaff
%P 866--873
%R 10.1109/ITSC57777.2023.10422677
%T Vision-Based DRL Autonomous Driving Agent with Sim2Real Transfer
%U https://2023.ieee-itsc.org/
%X To achieve fully autonomous driving, vehicles must be capable of continuously performing various driving tasks, including lane keeping and car following, both of which are fundamental and well-studied driving ones. However, previous studies have mainly focused on individual tasks, and car following tasks have typically relied on complete leader-follower information to attain optimal performance. To address this limitation, we propose a vision-based deep reinforcement learning (DRL) agent that can simultaneously perform lane keeping and car following maneuvers. To evaluate the performance of our DRL agent, we compare it with a baseline controller and use various performance metrics for quantitative analysis. Furthermore, we conduct a real-world evaluation to demonstrate the Sim2Real transfer capability of the trained DRL agent. To the best of our knowledge, our vision-based car following and lane keeping agent with Sim2Real transfer capability is the first of its kind. We have made the codes and the videos of the simulation and real-world evaluation accessible online11Code and videos are available on: https://github.com/DailyL/Sim2Realautonomous_vehicle.
