Optimizing Steering Angle Prediction in Self-Driving Vehicles Using Evolutionary Convolutional Neural Networks

Abstract

The global community is awaiting the advent of a self-driving vehicle that is safe, reliable, and capable of navigating a diverse range of road conditions and terrains. This requires a lot of research, study, and optimization. Thus, this work focused on implementing, training, and optimizing a convolutional neural network (CNN) model, aiming to predict the steering angle during driving (one of the main issues). The considered dataset comprises images collected inside a car-driving simulator and further processed for augmentation and removal of unimportant details. In addition, an innovative data-balancing process was previously performed. A CNN model was trained with the dataset, conducting a comparison between several different standard optimizers. Moreover, evolutionary optimization was applied to optimize the model’s weights as well as the optimizers themselves. Several experiments were performed considering different approaches of genetic algorithms (GAs) along with other optimizers from the state of the art. The obtained results demonstrate that the GA is an effective optimization tool for this problem.