A novel deep reinforcement learning-based steering control method of autonomous vehicles is proposed.A distortionless compressing method of action space is presented.Convolutional neural networks (CNNs) are designed to serve as an action policy.Driver experience is investigated and modeled to optimize policy of new actions exploration.Experimental results show that the proposed algorithm has better robustness and smoothness.Moreover,it is applicable to different roads,velocities or wire-control systems.