# Tuning Path Tracking Controllers for Autonomous Cars Using Reinforcement Learning

arXiv: https://arxiv.org/abs/2301.03363 · HTML: https://mlsanity.com/paper/2301.03363/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 48 references that are in the map.
- First posted on arXiv 9 Jan 2023.

## Builds on (most cited first, 9 of 9)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [A Survey of Deep Learning Techniques for Autonomous Driving](https://mlsanity.com/paper/1910.07738/) (2019)
- [A Survey of Deep Learning Applications to Autonomous Vehicle Control](https://mlsanity.com/paper/1912.10773/) (2019)
- [Explanations in Autonomous Driving: A Survey](https://mlsanity.com/paper/2103.05154/) (2021)
- [Reinforcement Learning and Deep Learning based Lateral Control for Autonomous Driving](https://mlsanity.com/paper/1810.12778/) (2018)
- [Automated Driving Maneuvers under Interactive Environment based on Deep Reinforcement Learning](https://mlsanity.com/paper/1803.09200/) (2018)
- [Deep Reinforcement Learning and Transportation Research: A Comprehensive Review](https://mlsanity.com/paper/2010.06187/) (2020)
- [Proximally Optimal Predictive Control Algorithm for Path Tracking of Self-Driving Cars](https://mlsanity.com/paper/2103.13240/) (2021)

## Abstract (arXiv)

This paper proposes an adaptable path tracking control system based on Reinforcement Learning (RL) for autonomous cars. A four-parameter controller shapes the behavior of the vehicle to navigate on lane changes and roundabouts. The tuning of the tracker uses an educated Q-Learning algorithm to minimize the lateral and steering trajectory errors. The CARLA simulation environment was used both for training and testing. The results show the vehicle is able to adapt its behavior to the different types of reference trajectories, navigating safely with low tracking errors. The use of a ROS bridge between the CARLA and the tracker results (i) in a realistic system, and (ii) simplifies the replacement of the CARLA by a real vehicle. An argument on the dependability of the overall architecture based on stability results of non-smooth systems is presented at the end of the paper.