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Wanto, Anjar
STIKOM Tunas Bangsa, Pematangsiantar, Indonesia.
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Journal : Journal of Applied Data Sciences

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Enhancing Autonomous Vehicle Navigation in Urban Traffic Using CNN-Based Deep Q-Networks Windarto, Agus Perdana; Solikhun, Solikhun; Wanto, Anjar
Journal of Applied Data Sciences Vol 6, No 4: December 2025
Publisher : Bright Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47738/jads.v6i4.896

Abstract

This research proposes a CNN-based Deep Q-Network (CNN-DQN) model to enhance the navigation capabilities of autonomous vehicles in complex urban environments. The model integrates CNN for spatial abstraction with reinforcement learning to enable end-to-end decision-making based on high-dimensional sensor data. The primary objective is to evaluate the impact of CNN-DQN state abstraction on the quality and stability of the resulting policy. Using a grid-based simulator, the agent is trained on a synthetic dataset representing urban traffic scenarios. The CNN-DQN model consistently outperforms standard DQN in multiple metrics: cumulative reward increased by 14.3%, loss convergence accelerated by 22%, and mean absolute error (MAE) reduced to 0.028. Furthermore, the model achieved a Pearson correlation coefficient of 0.94 in predicted actions and demonstrated superior robustness under Gaussian noise perturbation, with reward loss limited to 6.18% compared to 18.7% in the baseline. Visualizations of CNN feature maps reveal spatial attention patterns that support efficient path planning. The action symmetry index confirms that the CNN-DQN agent exhibits consistent left-right decision behavior, validating its policy regularity. The novelty of this study lies in its combined use of deep spatial encoding and value-based reinforcement learning for structured, rule-based environments with real-time control implications. These findings indicate that CNN-enhanced reinforcement learning architectures can significantly improve autonomous navigation performance and robustness in dynamic urban settings.
Co-Authors Abdi Rahim Damanik Abdullah Ahmad Achmad Noerkhaerin Putra Adnan, Syed Muhammad Agung Pratama Agung Wibowo Agung Yusuf Pratama Agus Perdana Windarto Akbari, Imam Anan Wibowo Andi Sanggam Sidabutar Arifah Hanum Arifin Nur, Khairun Nisa Asro Pradipta Astuti, Wiwik Sri Ayu Artika Fardhani Azwar Anas Manurung Azwar Anas Manurung Bil Klinton Sihotang Cici Astria Damanik, Bahrudi Efendi Damayanti, Tri Febri Daniel Sitorus Dedi Kusbiantoro Dedi Suhendro Dedi Suhendro Dedy Hartama Dedy Hartama Dedy Hartama Dedy Hartama Dedy Hartama Deri Setiawan Desi Insani Natalia Simanjuntak Dewi, Rafiqa Dinda Nabila Batubara Edu Wardo Saragih eko hartato Eko Hartato Eko Kurniawan Eko Purwanto Elfin Efendi Eva Desiana Fajar Ramadan Fazira, Rizky Nazwa Febriyanto, R Tri Hadi Fikri Yatussa’ada Fitri Anggraini GS , Achmad Daengs Gumilar Ramadhan Pangaribuan Hardinata, Jaya T Harly Okprana Hartama, Dedy Hartama, Dedy Heru Satria Tambunan Heru Satria Tambunan, Heru Satria Ht. Barat, Ade Ismiaty Ramadhona Hutapea, Isniar Yaskinah Hutasoit, Rahel Adelina Hutasoit, Rahel Adelina Ihsan Maulana Muhamad Iin Parlina Iin Parlina Iin Parlina Iin Parlina Iin Parlina Iin Parlina Ika Okta Kirana Ika Okta Kirana Ika Okta Kirana Ika Okta Kirana Ika Okta Kirana Ika Purnama Sari Ilham Syahputra Saragih Imelda Asih Rohani Simbolon Indra Gunawan Indra Gunawan Indra Satria Indra Satria Indra Satria Indri Sriwahyuni Purba Irawan Irawan Irfan Sudahri Damanik Jalaluddin Jalaluddin Jalaluddin Jalaluddin Jaya Tata Hardinata Jeni Sugiandi Jonas Rayandi Saragih Jonas Rayandi Saragih Joni Wilson Sitopu Jufriadif Na`am, Jufriadif Juli Wahyuni Khairun Nisa Arifin Nur Khairunnissa Fanny Irnanda Kirana, Ika Okta M Mesran M Safii M. Safii M.Ridwan Lubis Manurung, Azwar Anas MARIA BINTANG Marseba Situmorang Martina Silaban Mesran, Mesran Meychael Adi Putra Hutabarat Mhd Ali Hanafiah Mhd Gading Sadewo Mhd. Billy Sandi Saragih Mhd.Buhari Sibuea Mora Malemta Sitomorang Muhammad Aliyul Amri Muhammad Aliyul Amri Muhammad Julham Muhammad Julham Muhammad Mahendra Muhammad Ridwan Lubis Muhammad Ridwan Lubis Muhammad Ridwan Lubis Muhammad Ridwan Lubis Muhammad Syafiq Muhammad Wijaya Napitupulu, Flora Sabarina Nasution, Rizki Alfadillah Nasution, Zulaini Masruro Nazlina Izmi Addyna Ni Luh Wiwik Sri Rahayu Ginantra Nur Ahlina Febriyati Nur Arminarahmah Nur Arminarahmah Nur, Khairun Nisa Arifin Nuraysah Zamil Purba Nurhayati Nurhayati Okprana, Harly Okta Andrica Putra Parlina, Iin Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih Poningsih, Poningsih Putrama Alkhairi Rahmat W Sembiring Rahmat W. Sembiring Rahmat Zulpani Ramadani, Saputra Rapianto Sinaga Ratih Puspadini Reza Pratama Rita Mawarni Rizky Khairunnisa Sormin Ronal Watrianthos Roulina Simarmata Roy Chandra Telaumbanua Ruri Eka Pranata S Solikhun S Solikhun S Sumarno Sadewo, Mhd Gading Safii, M. Safruddin Safruddin Saifullah Saifullah Salsabila, Sophia Samuel Palentino Sinaga Samuel Palentino Sinaga Sandy Putra Siregar Saputra Ramadani Saragih, Irfan Christian Saragih, Jonas Rayandi Saragih, Mhd. Billy Sandi Sari, Riyani Wulan Sari, Riyani Wulan Sarjon Defit Setti, Sunil Sigit Anugerah Wardana Silaban, Herlan F Silfia Andini, Silfia Silitonga, Hotmalina Silitonga, Hotmalina Siregar, Sandy Putra Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun Solikhun, Solikhun Suhada Suhada Suhada Suhada Sumarno Sumarno Sumarno Sumarno Sumarno Sumarno Sundari Retno Andani Sundari Retno Andani Sunil Setti Surya Hendraputra Susi Fitryah Damanik Syafri Maradu Manurung Syafrika Deni Rizki Syahri Ramadhan Teuku Afriliansyah Tia Imandasari Titin Handayani Sinaga Tri Welanda Vasma Vitriani Sianipar Veithzal Rivai Zainal Venny Vidya utari Vitri Roma Sari Wida Prima Mustika Widodo Saputra Widya Tri Charisma Gultom Widyasuti, Meilin Widyasuti, Meilin Winanjaya, Riki Yuhandri Yuhandri, Yuhandri Yuli Andriani Yuri Widya Paranthy Zulaini Masruro Nasution Zulaini Masruro Nasution Zulaini Masruro Nasution Zulaini Masruro Nasution Zulia Almaida Siregar