Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data

Wenqi Fang, Huiyun Li, Shaobo Dang, Hui Huang, Lei Peng, Li Ta Hsu, Weisong Wen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

Self-driving vehicle is a popular and promising field in artificial intelligence. Conventional architecture consists of multiple sensors, which work collaboratively to sense the units on road to yield a precise and safe driving strategy. Besides the precision and safety, the quickness of decision is also a major concern. In order to react quickly, the vehicle need to predict its next possible action, such as acceleration, brake and steering angle, according to its latest few actions and status. In this paper, we treat this decision-making problem as a regression problem and use deep gaussian process to predict its next action. The regression model is trained using simulation data sets and accurately captures the most significant features. Combined with rule-based method, it can be used in Torcs simulation engine to realize successful loop trip on virtual roads. The proposed method outperforms the existing reinforcement learning methods on the performance indicators of time consumption and the size of data volume. It may be useful for real road tests in the future.

Original languageEnglish
Title of host publicationProceedings - 2019 15th International Conference on Computational Intelligence and Security, CIS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages267-271
Number of pages5
ISBN (Electronic)9781728160924
DOIs
Publication statusPublished - Dec 2019
Event15th International Conference on Computational Intelligence and Security, CIS 2019 - Macau, China
Duration: 13 Dec 201916 Dec 2019

Publication series

NameProceedings - 2019 15th International Conference on Computational Intelligence and Security, CIS 2019

Conference

Conference15th International Conference on Computational Intelligence and Security, CIS 2019
Country/TerritoryChina
CityMacau
Period13/12/1916/12/19

Keywords

  • decision-making
  • Gaussian process
  • kernel function
  • rule-based

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Decision Sciences (miscellaneous)
  • Information Systems and Management
  • Safety, Risk, Reliability and Quality

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