Automotive Engineering ›› 2023, Vol. 45 ›› Issue (8): 1343-1352.doi: 10.19562/j.chinasae.qcgc.2023.08.005
Special Issue: 智能网联汽车技术专题-规划&决策2023年
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Weiguo Liu1,2,Zhiyu Xiang1(),Rui Liu2,Guodong Li3,Zixu Wang2
Received:
2023-04-28
Revised:
2023-06-18
Online:
2023-08-25
Published:
2023-08-17
Contact:
Zhiyu Xiang
E-mail:xiangzy@zyu.edu.cn
Weiguo Liu,Zhiyu Xiang,Rui Liu,Guodong Li,Zixu Wang. Research on End-to-End Vehicle Motion Planning Method Based on Deep Learning[J].Automotive Engineering, 2023, 45(8): 1343-1352.
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计算机配置 | |||
---|---|---|---|
CPU | Intel(R) Core(TM) i7-8700K CPU @ 3.70 GHz | ||
GPU | GeForce GTX 3090 Ti | ||
OS | Ubuntu 18.04 | ||
Driver | NVIDIA version 470 | ||
CUDA | Version 11 | ||
CPU | Intel(R) Core(TM) i7-8700K CPU @ 3.70 GHz | ||
虚拟环境配置 | |||
Environment management system | Conda 4.5.12 | ||
Python distributions | Client side: 2.7.16 Server side: 3.7.1 | ||
机器学习工具 | |||
Tensorflow-gpu | Version 1.13.1 | ||
Keras | Version 2.2.4 | ||
Numpy | Version 1.15.1 | ||
Pandas | Version 0.24.2 | ||
Simulator | Carla 0.9.5 |
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数据 | 数据描述 | 数据格式 |
---|---|---|
前视摄像头图像 | 来自车辆前置中央摄像头的图像 | PNG |
速度 | 车辆的当前速度(m/s) | int |
速度限制 | 车辆所在位置的速度限制(km/h) | [float, float] |
位置 | 车辆的位置, [x-cord, y-cord] | [float, float, float] |
车辆控制信号 | 车辆控制信号,[steer, throttle, brake] | [float, float, float] |
建议控制信号 | Carla自动驾驶仪建议的控制信号, [steer, throttle, brake] | int |
交通信号灯状态 | 车辆位置的交通灯状态: Green(1), Red(0) | int |
导航信号输入 | 激活的导航输入: Turn Left, Turn Right Straight Ahead, Continue Straight, Change Lane Left, Change Lane Right | int |
驾驶环境 | 仿真驾驶环境: Highway, Rural | int |
天气标识 | Sun position presets Weather condition presets Sun attitude Sun azimuth Clouds amount Rain amount Puddles amount Wind intensity Fog intensity Fog Distance | [sunset | day | night] [clear | overcast | rain] [int, int] [int, int] [int, int] [int, int] [int, int] [int, int] [int, int] [int, int] |
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数据平衡方法 | 训练步数 | 晴天&中午 | 晴天&傍晚 | 大雨&中午 | 小雨&中午 | 阴天&傍晚 | 平均 |
---|---|---|---|---|---|---|---|
无 | 12 938 | 15.79% | 15.79% | 21.32% | 15.79% | 15.79% | 15.78% |
无 | 20 241 | 10.22% | 38.00% | 15.28% | 17.85% | 33.66% | 23.03% |
过滤 | 6 158 | 17.85% | 16.53% | 26.65% | 15.79% | 16.53% | 18.45% |
过滤 | 11 236 | 30.10% | 10.22% | 13.51% | 11.96% | 33.66% | 20.89% |
扩充 | 6 064 | 36.45% | 38.00% | 10.22% | 15.79% | 29.20% | 25.76% |
扩充 | 12 068 | 33.66% | 44.98% | 22.71% | 64.17% | 20.87% | 37.19% |
扩充 | 24 137 | 13.91% | 63.92% | 30.10% | 38.00% | 63.92% | 41.88% |
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