TY - GEN
T1 - Automated Lane Changing Through Learning-Based Control
T2 - 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
AU - Ha, Won Yong
AU - Chakraborty, Sayan
AU - Yu, Yujie
AU - Ghasemi, Samin
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper presents a learning-based methodology for developing an optimal lane-changing control policy for a Remote Controlled (RC) car using real-time sensor data. The RC car is equipped with sensors including GPS, IMU devices, and a camera integrated in an Nvidia Jetson AGX Xavier board. By a novel Adaptive Dynamic Programming (ADP) algorithm, our RC car is capable of learning the optimal lane-changing strategies based on the real-time processed measurement from the sensors. The experimental outcomes show that our learning-based control algorithm can be effectively implemented, adapt to parameter changes, and complete the lane changing tasks in a short learning time with satisfactory performance.
AB - This paper presents a learning-based methodology for developing an optimal lane-changing control policy for a Remote Controlled (RC) car using real-time sensor data. The RC car is equipped with sensors including GPS, IMU devices, and a camera integrated in an Nvidia Jetson AGX Xavier board. By a novel Adaptive Dynamic Programming (ADP) algorithm, our RC car is capable of learning the optimal lane-changing strategies based on the real-time processed measurement from the sensors. The experimental outcomes show that our learning-based control algorithm can be effectively implemented, adapt to parameter changes, and complete the lane changing tasks in a short learning time with satisfactory performance.
UR - http://www.scopus.com/inward/record.url?scp=85186511228&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85186511228&partnerID=8YFLogxK
U2 - 10.1109/ITSC57777.2023.10422053
DO - 10.1109/ITSC57777.2023.10422053
M3 - Conference contribution
AN - SCOPUS:85186511228
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 4215
EP - 4220
BT - 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 September 2023 through 28 September 2023
ER -