Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: An automated driving strategy generating method based on WGAIL-DDPG
Creator:
Zhabg, Mingheng ; Wan, Xing ; Gang, Longhui ; Lv, Xinfei ; Wu, Zengwen ; Liu, Zhaoyang
Date:
Resource Type:
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
Reliability, efficiency and generalization are basic evaluation criteria for a vehicle automated driving system. This paper proposes an automated driving decision-making method based on the Wasserstein generative adversarial imitation learning-deep deterministic policy gradient (WGAIL-DDPG). Here the exact reward function is designed based on the requirements of a vehicle`s driving performance, i.e., safety, dynamic and ride comfort performance. ; The model`s training efficiency is improved through the proposed imitation learning strategy, and a gain regulator is designed to smooth the transition from imitation to reinforcement phases. Test results show that the proposed decision-making model can generate actions quickly and accurately according to the surrounding environment. Meanwhile, the imitation learning strategy based on expert experience and the gain regulator can effectively improve the training efficiency for the reinforcement learning model. Additionally, an extended test also proves its good adaptability for different driving conditions.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 31, number 3 (2021) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2021)
Last modified:
Jul 21, 2025
In our library since:
Jul 21, 2025
Number of object content hits:
10
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/101381
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 31, number 1 (2021)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 31, number 2 (2021)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 31, number 3 (2021)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 31, number 4 (2021)
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| Edition name | Date |
|---|---|
| An automated driving strategy generating method based on WGAIL-DDPG | Jul 21, 2025 |
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