A system (100) for controlling a vehicle (10) includes a processor (104) configured to execute instructions stored on a non-transitory computer readable medium (106). The system also includes a sensor (112) coupled to the processor and configured to receive sensory input (202). The system also includes a controller (102) coupled to the processor and configured to control the vehicle. The processor is further configured to: create a synthetic image (204, 308) based on the sensory input; derive a deep reinforcement learning (RL) policy (206, 314) using the synthetic image, wherein the deep RL policy determines a longitudinal control for the vehicle (316); and instruct the controller to control the vehicle based on the deep RL policy (208, 316).
DEEP REINFORCEMENT LEARNING FOR A GENERAL FRAMEWORK FOR MODEL-BASED LONGITUDINAL CONTROL