  Lane changing and obstacle avoidance are one of the most important tasks in
automated cars. To date, many algorithms have been suggested that are generally
based on path trajectory or reinforcement learning approaches. Although these
methods have been efficient, they are not able to accurately imitate a smooth
path traveled by an expert driver. In this paper, a method is presented to
mimic drivers' behavior using a convolutional neural network (CNN). First,
seven features are extracted from a dataset gathered from four expert drivers
in a driving simulator. Then, these features are converted from 1D arrays to 2D
arrays and injected into a CNN. The CNN model computes the desired steering
wheel angle and sends it to an adaptive PD controller. Finally, the control
unit applies proper torque to the steering wheel. Results show that the CNN
model can mimic the drivers' behavior with an R2-squared of 0.83. Also, the
performance of the presented method was evaluated in the driving simulator for
17 trials, which avoided all traffic cones successfully. In some trials, the
presented method performed a smoother maneuver compared to the expert drivers.
