Artificial Intelligence for Sustainable Applications

3Steering Angle Prediction for Autonomous Vehicles Using Deep Learning Model with Optimized Hyperparameters

Bineeshia J.¹*, Vinoth Kumar B.², Karthikeyan T.³ and Syed Khaja Mohideen³

¹Department of Computer Science and Engineering, PSG College of Technology, Coimbatore, India

²Department of Information and Technology, PSG College of Technology, Coimbatore, India

³Department of Information Technology, University of Technology and Applied Sciences – Salalah, Oman

Abstract

Autonomous vehicles will optimize our transportation infrastructure and could in the long run improve our lifestyles. Machine Learning has recently advanced, allowing us to get closer to making this technology a reality. The capability of Deep Learning algorithms is used in the proposed study to construct a model that can anticipate steering angles nearly identical to how a human would manage a car’s steering wheel. This was accomplished by training a 9-layer deep neural network. Optimization of hyperparameters of neural network models is performed for better results. The model was trained using a small dataset of less than 30 minutes of driving data, resulting in a Root Mean Squared Error of 0.0532 on the testing dataset, far above the benchmark of 0.2068. Finally, this score indicated Deep Learning models’ capacity to execute in a human-like manner with only a minimal amount of training.

Keywords: Self-driving cars, deep learning, steering angle, CNN, genetic algorithm

3.1 Introduction

One of the most significant ...