# Self-Driving Car Steering Angle Prediction: Let Transformer Be a Car Again

arXiv: https://arxiv.org/abs/2204.12748 · HTML: https://mlsanity.com/paper/2204.12748/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 9 references that are in the map.
- First posted on arXiv 27 Apr 2022.

## Builds on (most cited first, 4 of 4)

- [Auto-Encoding Variational Bayes](https://mlsanity.com/paper/1312.6114/) (2013)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [Deep Reinforcement Learning framework for Autonomous Driving](https://mlsanity.com/paper/1704.02532/) (2017)

## Built on by (most cited first, 2 of 2)

- [Enhancing Accuracy and Robustness of Steering Angle Prediction with Attention Mechanism](https://mlsanity.com/paper/2211.11133/) (2022)
- [UniAda: Universal Adaptive Multi-objective Adversarial Attack for End-to-End Autonomous Driving Systems](https://mlsanity.com/paper/2604.23362/) (2026)

## Abstract (arXiv)

Self-driving vehicles are expected to be a massive economic influence over the coming decades. Udacity https://www.udacity.com/ has been working on a completely open-source self driving car. Thus, it regularly organizes various competitions, one of which was dedicated to steering angle prediction task. In this work, we perform an extensive study on this particular task by exploring the Udacity Self-driving Car Challenge 2. We provide insights on the previous teams' solutions. Moreover, we propose our new architecture that is inspired by some of the teams. We report our performance and compare it with multiple baseline architectures as well as other teams' solutions. We make our work available on GitHub and hope it is useful for the Udacity community and brings insights for future works https://github.com/chingisooinar/AI_self-driving-car