Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

J. M. Lubin, S. Gilbert, E. C. Huber, A. L. Kornhauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.

Original languageEnglish (US)
Title of host publicationProceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages85-91
Number of pages7
ISBN (Electronic)078030747X
DOIs
StatePublished - 1992
Event1992 Intelligent Vehicles Symposium, IVS 1992 - Detroit, United States
Duration: Jun 29 1992Jul 1 1992

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference1992 Intelligent Vehicles Symposium, IVS 1992
CountryUnited States
CityDetroit
Period6/29/927/1/92

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Automotive Engineering
  • Modeling and Simulation

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