МЕТОД ОБУЧЕНИЯ ИНТЕЛЛЕКТУАЛЬНОГО АГЕНТА С ПОМОЩЬЮ СЕТЕЙ DOUBLE DQN, ПУТЕВЫХ ТОЧЕК И ФУНКЦИИ ВОЗНАГРАЖДЕНИЯ

Abstract

The problems of increasing the control efficiency of autonomous vehicles are considered. The problem of reducing the required computational resources for the intelligent vehicle control module is highlighted. A neural network training algorithm for Double DQN architecture with modified reward functions is proposed. The basis of the proposed solution is the use of lane segmentation, reward function and the use of additional waypoints in training. A software model has been developed and simulation of the learning process has been performed. The results obtained from a comparative analysis with known solutions show a stable increase in episode duration, and effective training in a realistic urban simulation. The study points to the possibility of reducing the need for high computing power, which will enable the use of central processing units (CPUs) for basic functions of unmanned vehicles instead of graphics processing units (GPUs).