Transfer Learning-Based Steering Angle Prediction and Control with Fuzzy Signatures-Enhanced Fuzzy Systems for Autonomous Vehicles

Abstract

This research introduces an innovative approach for End-to-End steering angle prediction and its control in electric power steering (EPS) systems. The methodology integrates transfer learning-based computer vision techniques for prediction and control with fuzzy signatures-enhanced fuzzy systems. Fuzzy signatures are unique multidimensional data structures that represent data symbolically. This enhancement enables the fuzzy systems to effectively manage the inherent imprecision and uncertainty in various driving scenarios. The ultimate goal of this work is to assess the efficiency and performance of this combined approach by highlighting the pivotal role of steering angle prediction and control in the field of autonomous driving systems. Specifically, within EPS systems, the control of the motor directly influences the vehicle’s path and maneuverability. A significant breakthrough of this study is the successful application of transfer learning-based computer vision techniques to extract respective visual data without the need for large datasets. This represents an advancement in reducing the extensive data collection and computational load typically required. The findings of this research reveal the potential of this approach within EPS systems, with an MSE score of 0.0386 against 0.0476, by outperforming the existing NVIDIA model. This result provides a 22.63% better Mean Squared Error (MSE) score than NVIDIA’s model. The proposed model also showed better performance compared with all other three references found in the literature. Furthermore, we identify potential areas for refinement, such as decreasing model loss and simplifying the complex decision model of fuzzy systems, which can represent the symmetry and asymmetry of human decision-making systems. This study, therefore, contributes significantly to the ongoing evolution of autonomous driving systems.