End-to-End Autonomous Driving: An Angle Branched Network Approach | |
Wang, Qing1; Chen, Long1; Tian, Bin2,3,4; Tian, Wei5; Li, Lingxi6; Cao, Dongpu7 | |
发表期刊 | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY |
ISSN | 0018-9545 |
2019-12-01 | |
卷号 | 68期号:12页码:11599-11610 |
通讯作者 | Chen, Long(chenl46@mail.sysu.edu.cn) |
摘要 | Imitation learning for the end-to-end autonomous driving has drawn renewed attention from academic communities. Current methods either only use images as the input, which will yield ambiguities when a vehicle approaches an intersection, or use additional command information to navigate the vehicle but inefficiently. Focusing on making the vehicle automatically drive along the given path, we propose a new and effective navigation command called as subgoal anglewhich does not require human participation and is calculated by the current position and subgoal of the ego-vehicle. Thus, the subgoal angle contains more information than the navigation command represented as a one-hot vector. Additionally, we propose a model architecture called as angle branched network that makes predictions based on the subgoal angle. In this network, the subgoal angle is not only used for extracting useful features but also for guiding the appropriate prediction layer to make predictions for both the steer angle and the throttle status (which controls the acceleration). Experiments are conducted in a three-dimensional urban simulator. Both quantitive and qualitive results show the effectiveness of the navigation command and the angle branched network. Moreover, the performance can be further boosted by integrating both semantic and depth information into the driving model. Especially by using the depth information, collisions with vehicles and pedestrians can be reduced. |
关键词 | End-to-end driving imitation learning navigation command |
DOI | 10.1109/TVT.2019.2921918 |
关键词[WOS] | VEHICLE NAVIGATION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key R&D Program of China[2018YFB1305002] ; National Natural Science Foundation of China[61773414] ; National Key R&D Program of China[2018YFB1305002] ; National Natural Science Foundation of China[61773414] |
项目资助者 | National Key R&D Program of China ; National Natural Science Foundation of China |
WOS研究方向 | Engineering ; Telecommunications ; Transportation |
WOS类目 | Engineering, Electrical & Electronic ; Telecommunications ; Transportation Science & Technology |
WOS记录号 | WOS:000518226900020 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38374 |
专题 | 复杂系统管理与控制国家重点实验室_平行智能技术与系统团队 |
通讯作者 | Chen, Long |
作者单位 | 1.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510245, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Qingdao Acad Intelligent Ind, Qingdao 266111, Shandong, Peoples R China 4.Chinese Acad Sci, Cloud Comp Ctr, Dongguan 523808, Peoples R China 5.Karlsruhe Inst Technol, Inst Measurement & Control Syst, D-76131 Karlsruhe, Germany 6.Indiana Univ Purdue Univ, Purdue Sch Engn & Technol, Dept Elect & Comp Engn, Indianapolis, IN 46202 USA 7.Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada |
推荐引用方式 GB/T 7714 | Wang, Qing,Chen, Long,Tian, Bin,et al. End-to-End Autonomous Driving: An Angle Branched Network Approach[J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,2019,68(12):11599-11610. |
APA | Wang, Qing,Chen, Long,Tian, Bin,Tian, Wei,Li, Lingxi,&Cao, Dongpu.(2019).End-to-End Autonomous Driving: An Angle Branched Network Approach.IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,68(12),11599-11610. |
MLA | Wang, Qing,et al."End-to-End Autonomous Driving: An Angle Branched Network Approach".IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 68.12(2019):11599-11610. |
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