This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Robust Behavioral Cloning for Autonomous Vehicles Using End-to-End Imitation Learning
ISSN: 2574-0741, e-ISSN: 2574-075X
Published August 19, 2021 by SAE International in United States
Citation: Samak, T., Samak, C., and Kandhasamy, S., "Robust Behavioral Cloning for Autonomous Vehicles Using End-to-End Imitation Learning," SAE Intl. J CAV 4(3):279-295, 2021, https://doi.org/10.4271/12-04-03-0023.
In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a simulated vehicle. The training phase comprised of data collection, balancing, augmentation, preprocessing, and training a neural network, following which the trained model was deployed onto the ego vehicle to predict steering commands based on the feed from an onboard camera. A novel coupled control law was formulated to generate longitudinal control commands on the go based on the predicted steering angle and other parameters such as the actual speed of the ego vehicle and the prescribed constraints for speed and steering. We analyzed the computational efficiency of the pipeline and evaluated the robustness of the trained models through exhaustive experimentation during the deployment phase. We also compared our approach against state-of-the-art implementation in order to comment on its validity.