汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (4): 738-749.DOI: 10.3969/j.issn.1674-8484.2022.04.015
朱波1,2(), 张纪伟1(), 谈东奎1,2,*(), 胡旭东1
收稿日期:
2022-05-21
修回日期:
2022-07-25
出版日期:
2022-12-31
发布日期:
2023-01-01
通讯作者:
谈东奎
作者简介:
*谈东奎,助理研究员。E-mail:tandongkui@126.com。基金资助:
ZHU Bo1,2(), ZHANG Jiwei1(), TAN Dongkui1,2,*(), HU Xudong1
Received:
2022-05-21
Revised:
2022-07-25
Online:
2022-12-31
Published:
2023-01-01
Contact:
TAN Dongkui
摘要:
提出了一种基于多源传感器与导航地图的多端输入-单端输出(端到端)自动驾驶决策控制模型,以弥补现有端到端自动驾驶方法中基于深度神经网络(DNN)的PilotNet模型在主动避障行驶和交叉路口通行方面的不足。该模型的传感器数据输入端包括:单目前视摄像头、360( ° )多线激光雷达(LiDAR)所得二维俯视图、精准定位的局部导航地图等3部分;车辆控制命令输出端为方向盘转向角。进行了多工况仿真和实车试验。结果表明:与PilotNet模型相比,该模型的方向盘转向角均方根误差(RMSE)值下降了37%;因而,该模型具备主动避障和交叉路口通行的能力。
中图分类号:
朱波, 张纪伟, 谈东奎, 胡旭东. 基于多源传感器与导航地图的端到端自动驾驶方法[J]. 汽车安全与节能学报, 2022, 13(4): 738-749.
ZHU Bo, ZHANG Jiwei, TAN Dongkui, HU Xudong. End-to-end autonomous driving method based on multi-source sensor and navigation map[J]. Journal of Automotive Safety and Energy, 2022, 13(4): 738-749.
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