Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks

doi:10.1109/JAS.2019.1911825

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks
	Parham M. Kebria; Abbas Khosravi; Syed Moshfeq Salaken; Saeid Nahavandi
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:1 页码:82-95
摘要	Providing autonomous systems with an effective quantity and quality of information from a desired task is challenging. In particular, autonomous vehicles, must have a reliable vision of their workspace to robustly accomplish driving functions. Speaking of machine vision, deep learning techniques, and specifically convolutional neural networks, have been proven to be the state of the art technology in the field. As these networks typically involve millions of parameters and elements, designing an optimal architecture for deep learning structures is a difficult task which is globally under investigation by researchers. This study experimentally evaluates the impact of three major architectural properties of convolutional networks, including the number of layers, filters, and filter size on their performance. In this study, several models with different properties are developed, equally trained, and then applied to an autonomous car in a realistic simulation environment. A new ensemble approach is also proposed to calculate and update weights for the models regarding their mean squared error values. Based on design properties, performance results are reported and compared for further investigations. Surprisingly, the number of filters itself does not largely affect the performance efficiency. As a result, proper allocation of filters with different kernel sizes through the layers introduces a considerable improvement in the performance. Achievements of this study will provide the researchers with a clear clue and direction in designing optimal network architectures for deep learning purposes.
关键词	Autonomous vehicles convolutional neural networks deep learning imitation learning
DOI	10.1109/JAS.2019.1911825
引用统计	被引频次：103[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42924
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Parham M. Kebria,Abbas Khosravi,Syed Moshfeq Salaken,et al. Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):82-95.
APA	Parham M. Kebria,Abbas Khosravi,Syed Moshfeq Salaken,&Saeid Nahavandi.(2020).Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks.IEEE/CAA Journal of Automatica Sinica,7(1),82-95.
MLA	Parham M. Kebria,et al."Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks".IEEE/CAA Journal of Automatica Sinica 7.1(2020):82-95.

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