Adaptive federated learning algorithm for differential intersection based on 3DSSD

doi:10.3969/j.issn.1674-8484.2024.05.011

Abstract

Abstract:

A point-cloud object-detection algorithm (FLA3DSSD) was proposed based on a parameter adaptive Federated Learning (FL) strategy to solve the problems of lack of roadside endpoint cloud dataset and the low generalization ability of object detection models. The point-cloud based 3-D Single-Stage ObjectDetector algorithm (3DSSD) was combined with the FL in the cases in which the data from various roadside clients are not interconnected. The client model parameter update strategy was improved by uploading local models to the server for model adaptive parameter fusion, to achieve data information sharing. The results show that the aggregation model combining classical federated learning and 3DSSD algorithm showed a 5%~40% increase in detection Average Precision (AP) compared to the locally trained model deployed directly to other clients for testing in the deployment task of the vehicle road collaborative differential intersection scene algorithm; Improved parameter adaptive federated learning FLA3DSSD achieves a 1%~7% increase in AP value based on the aggregated model. Therefore, the method improves the generalization ability and detection accuracy with protecting data privacy.

Key words: intelligent transportation, vehicle-road coordination, object detection, laser point-cloud, Federated-Learning (FL) strategy, Deep-Learning model

CLC Number:

TP183

SHI Liying, ZHOU Guofeng, LI Zexing, CAO Liling. Adaptive federated learning algorithm for differential intersection based on 3DSSD[J]. Journal of Automotive Safety and Energy, 2024, 15(5): 732-741.

Figures/Tables 13

References 14

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数据集编号	数据量/帧	场景特征
1	1 945	五车道(直行)
2	2 730	五车道变四车道(直行、转弯)
3	2 899	三车道变双车道(直行、转弯，右转单独)
4	1 850	四车道变三车道(直行、转弯)
5	1 035	五车道变四车道(直行、转弯，右转车道可直行)
6	816	单侧单车道单向(右转单独，有安全岛)

数据集编号	数据量/帧	场景特征
1	1 945	五车道(直行)
2	2 730	五车道变四车道(直行、转弯)
3	2 899	三车道变双车道(直行、转弯，右转单独)
4	1 850	四车道变三车道(直行、转弯)
5	1 035	五车道变四车道(直行、转弯，右转车道可直行)
6	816	单侧单车道单向(右转单独，有安全岛)

数据集编号	AP_3D/%		AP_BEV/%
数据集编号	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)
1	88.24，87.77，80.48	90.81，90.71，90.67	90.05，89.50，89.43	99.40，90.80，90.77
2	78.89，62.78，62.78	81.39，72.29，72.29	81.02，71.60，71.60	81.65，72.54，72.54
3	64.57，41.17，41.24	70.15，52.78，52.74	69.39，52.27，52.13	70.39，52.94，52.90
4	53.70，34.85，34.85	54.25，36.13，36.12	54.10，35.78，35.78	54.25，36.13，36.12
5	42.05，36.10，35.97	80.82，72.19，72.19	58.12，54.66，54.65	81.22，72.44，72.41
6	40.49，33.29，39.99	62.03，44.62，53.46	52.76，42.88，44.42	63.74，44.39，49.50

数据集编号	AP_3D/%		AP_BEV/%
数据集编号	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)
1	88.24，87.77，80.48	90.81，90.71，90.67	90.05，89.50，89.43	99.40，90.80，90.77
2	78.89，62.78，62.78	81.39，72.29，72.29	81.02，71.60，71.60	81.65，72.54，72.54
3	64.57，41.17，41.24	70.15，52.78，52.74	69.39，52.27，52.13	70.39，52.94，52.90
4	53.70，34.85，34.85	54.25，36.13，36.12	54.10，35.78，35.78	54.25，36.13，36.12
5	42.05，36.10，35.97	80.82，72.19，72.19	58.12，54.66，54.65	81.22，72.44，72.41
6	40.49，33.29，39.99	62.03，44.62，53.46	52.76，42.88，44.42	63.74，44.39，49.50

测试集编号	AP_3D/%		AP_BEV/%
测试集编号	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)	IoU = (0.7，0.7，0.7)	IoU = (0.7，0.5，0.5)
1	78.06，77.83，76.04	90.56，90.29，90.14	88.91，87.14，80.30	90.69，90.62，90.55
2	72.21，63.18，63.18	81.33，72.24，72.24	80.14，71.06，71.06	81.56，72.46，72.46
3	21.69，20.25，20.20	57.46，41.71，41.66	46.37，38.20，38.06	67.21，50.68，50.53
4	51.10，27.04，27.04	54.41，35.98，35.98	54.03，33.56，33.56	54.41，36.01，36.01
5	50.78，42.35，42.34	72.19，63.16，63.11	62.20，59.98，53.47	72.34，63.31，63.26
6	23.04，18.52，20.30	44.33，32.32，39.28	31.49，23.38，29.64	46.04，32.85，40.14