New version of Adaptive-Cruise Controller using DRL:

https://github.com/kochlisGit/Noise-Adaptive-Driving-Assistance-System

Self Driving Vehicles Using Deep Reinforcement Learning

** Description **

This is the project of my thesis. I've implemented an agent in CARLA Simulator, which is capable of navigating a vehicle safe & fast, using only 2 front cameras. More info about the simulator can be found here: https://carla.org/ . The agent has learnt to navigate in a lane using deep reinforcement learning algorithms. The development of the agent was made in Python.

Demonstration

This directory contains 8 video files (mp4) that demonstrate how the vehicle is moving in the simulator https://github.com/kochlisGit/autonomous-vehicles-agent/tree/main/videos

The validation of the vehicle was done in a pre-defined route, that was new to the agent. The results are astonishing!

Python Libraries

1. Carla API
2. Numpy
3. Matplotlib
4. Tensorflow
5. Keras
6. TF-Agents
7. Tensorflow-Addons

Sensors

1. Collision Detector: https://carla.readthedocs.io/en/latest/ref_sensors/#collision-detector
2. RGB Camera with Semantic Segmentation: https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera
3. Depth Camera: https://carla.readthedocs.io/en/latest/ref_sensors/#depth-camera

Algorithms:

• DQN: https://www.cs.toronto.edu/~vmnih/docs/dqn.pdf
• N-Step DQN: https://arxiv.org/pdf/1901.07510.pdf
• DDQN: https://arxiv.org/pdf/1509.06461.pdf
• C51: https://arxiv.org/pdf/1707.06887.pdf
• Decaying Epsilon Greedy: http://tokic.com/www/tokicm/publikationen/papers/AdaptiveEpsilonGreedyExploration.pdf
• Convolutional Neural Network CNN: https://iopscience.iop.org/article/10.1088/1742-6596/1004/1/012028/pdf
• Yogi Optimizer: https://papers.nips.cc/paper/2018/file/90365351ccc7437a1309dc64e4db32a3-Paper.pdf
• GELU: https://arxiv.org/pdf/1606.08415.pdf

Execution

First, You have to download carla and all the libraries above. Then, download my "code" directory and paste it into "Carla/PythonAPI/". Run "agent/straight_lane_agent_c51_training.py" to start the training.

IMPORTANT The simulator window should be open, in order for the training to occur. Check https://carla.readthedocs.io/en/latest/start_introduction/ for more information of how to setup carla.

Libraries

1. Python 3.7
2. Carla <= 0.12
3. Numpy >= 1.15
4. Matplotlib
5. Tensorflow >= 2.0
6. TF-Agents >= 0.13
7. Tensorflow-Addons >= 0.13 1 Opencv >= 4.0