Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control

Algorithm 2

Feedback control method .

	Input: action at each time step:
	two variables of state:
	training state set:
	Output: refined action:
(1)
(2)	if then
(3)	if or then
(4)
(5)
(6)	end if
(7)	if or then
(8)
(9)
(10)	end if
(11)	else
(12)	if or then
(13)
(14)
(15)	end if
(16)	if or then
(17)
(18)
(19)	end if
(20)	end if
(21)