GTA5-Self-Driving-car

Driving Unfamiliar Roads

Driving Familiar Roads

Images are at 2x speed to show more driving in a shorter time span.

Inspiration

This project was inspired by /~https://github.com/Sentdex/pygta5
The aim was to make a slightly more realistic GTA5 self-driving car.
By utilizing imitation learning the model has learned to stay in lane and keep it's speed up.

The Model

This model was trained using ~80,000 images with corresponding steering and throttle commands.
The architecture was loosely modelled after PilotNet by NVIDIA https://arxiv.org/abs/1604.07316
However, this network was modified to add two regression heads, one for each command.
The model was initially only trained using the steering command to learn features in the
convolution layers. After this, a second regression head was added and only the remaining regression
layers were trained to create the full model.

Datasets

Two separate datasets were used for steering and throttle. This was because the distribution of the steering and throttle heavily favoured certain positions, so the data was pruned to create a flatter distribution so the model will not overfit. When the steering data had a good distribution the throttle distribution was bad, and vice versa, hence training them separately.

Steering Dataset Before	Steering Dataset After

Throttle Dataset Before	Throttle Dataset After

Prerequisites

1. GTA5 + Mods
   • Script Hook V
   • Native Trainer
   • Enhanced Native Trainer
   • GTA V Fov v1.35
   • Extended Camera Settings
   • Hood Camera
   • Singleplayer Reveal Map
   • LeFix Speedometer 1.3.5 (Important)
2. Python 3.6
3. OpenCV
4. Numpy
5. Tensorflow GPU
6. Keras
7. x360ce (https://www.x360ce.com/)
8. vJoy (http://vjoystick.sourceforge.net/site/)

Usage

Recommended to use dual monitors

1. Download model weights from https://drive.google.com/open?id=1NgaGZ-oFjvl-GxJvOtqXdIedrumV64-o and place them in the same directory as GTA_SelfDrivingCar.py
2. Run GTA5 in windowed mode 1280x720
3. Find a car and enable Hood Camera (press 8)
4. Run GTA_Self_Driving_Car.py
5. Find a long road like a motorway or country road

Training

To train the model, simply collect images of size 400x220 along with steering and throttle commands and train the model like any other convolutional neural network in keras.

The images are the inputs to the network.
The steering and throttle commands are the outputs.

For more information on how to train neural networks generally visit:
https://www.youtube.com/watch?time_continue=1&v=wQ8BIBpya2k&feature=emb_logo

For information on training networks with multiple outputs visit:
https://keras.io/getting-started/functional-api-guide/#multi-input-and-multi-output-models

Thoughts

The model seemed to learn quite a lot from a relatively small dataset.
However, there is still a long way to go as other things need to be added such as

• Scene segmentation to give a sense of what is surrounding the car
• Depth perception to give a sense of distance to surroundings
• Optical flow to give a sense of how things in the scene are moving
• Add time into the model using something like an LSTM

Moreover, more data will help improve the model in the future.