Analysis of a neural network lateral controller for an autonomous road vehicle

This paper explores lateral control of a simulated vehicle in a simulated highway driving environment. Three modules are used: a driving simulator, a visual preprocessor, and a neural network. 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.

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