A Lightweight Convolutional Neural Network to Predict Steering Angle for Autonomous Driving Using CARLA Simulator

Table 4

Test root mean squared of proposed model on various weather conditions.

Weather	Testing MSE
ClearNoon
CloudyNoon
WetNoon
WetNoon
MidRainyNoon
HardRainNoon
SoftRainNoon
ClearSunset
CloudySunset
WetSunset
WetCloudySunset
MidRainSunset
HardRainSunset
SoftRainSunset