End-to-End autonomous driving based on Convolutional Recurrent Neural Network

2019 ◽  
Vol 29 (4) ◽  
pp. 297-301
Author(s):  
Mingyu Park ◽  
Hyeonseok Kim ◽  
Seongkeun Park
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Autonomous Driving ◽  
End To End

scholarly journals End-to-End Autonomous Driving Through Dueling Double Deep Q-Network

2021 ◽  
Author(s):  
Baiyu Peng ◽  
Qi Sun ◽  
Shengbo Eben Li ◽  
Dongsuk Kum ◽  
Yuming Yin ◽  
...  
Keyword(s):  
Neural Network ◽  
State Space ◽  
Learning Algorithm ◽  
Rapid Development ◽  
Autonomous Driving ◽  
Saliency Map ◽  
Hierarchical Architecture ◽  
Link Type ◽  
The Neural Network ◽  
End To End

AbstractRecent years have seen the rapid development of autonomous driving systems, which are typically designed in a hierarchical architecture or an end-to-end architecture. The hierarchical architecture is always complicated and hard to design, while the end-to-end architecture is more promising due to its simple structure. This paper puts forward an end-to-end autonomous driving method through a deep reinforcement learning algorithm Dueling Double Deep Q-Network, making it possible for the vehicle to learn end-to-end driving by itself. This paper firstly proposes an architecture for the end-to-end lane-keeping task. Unlike the traditional image-only state space, the presented state space is composed of both camera images and vehicle motion information. Then corresponding dueling neural network structure is introduced, which reduces the variance and improves sampling efficiency. Thirdly, the proposed method is applied to The Open Racing Car Simulator (TORCS) to demonstrate its great performance, where it surpasses human drivers. Finally, the saliency map of the neural network is visualized, which indicates the trained network drives by observing the lane lines. A video for the presented work is available online, https://youtu.be/76ciJmIHMD8 or https://v.youku.com/v_show/id_XNDM4ODc0MTM4NA==.html.

scholarly journals Recurrent neural network for end-to-end modeling of laminar-turbulent transition

2021 ◽  
Vol 2 ◽  
Author(s):  
Muhammad I. Zafar ◽  
Meelan M. Choudhari ◽  
Pedro Paredes ◽  
Heng Xiao
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Transition Model ◽  
Large Set ◽  
Two Dimensional ◽  
Turbulent Transition ◽  
Wide Range ◽  
Network Methods ◽  
End To End ◽  
Laminar Turbulent Transition

Abstract Accurate prediction of laminar-turbulent transition is a critical element of computational fluid dynamics simulations for aerodynamic design across multiple flow regimes. Traditional methods of transition prediction cannot be easily extended to flow configurations where the transition process depends on a large set of parameters. In comparison, neural network methods allow higher dimensional input features to be considered without compromising the efficiency and accuracy of the traditional data-driven models. Neural network methods proposed earlier follow a cumbersome methodology of predicting instability growth rates over a broad range of frequencies, which are then processed to obtain the N-factor envelope, and then, the transition location based on the correlating N-factor. This paper presents an end-to-end transition model based on a recurrent neural network, which sequentially processes the mean boundary-layer profiles along the surface of the aerodynamic body to directly predict the N-factor envelope and the transition locations over a two-dimensional airfoil. The proposed transition model has been developed and assessed using a large database of 53 airfoils over a wide range of chord Reynolds numbers and angles of attack. The large universe of airfoils encountered in various applications causes additional difficulties. As such, we provide further insights on selecting training datasets from large amounts of available data. Although the proposed model has been analyzed for two-dimensional boundary layers in this paper, it can be easily generalized to other flows due to embedded feature extraction capability of convolutional neural network in the model.

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