اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدExplainable Object-induced Action Decision for Autonomous Vehicles
280
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
A new paradigm is proposed for autonomous driving. The new paradigm lies between the end-to-end and pipelined approaches, and is inspired by how humans solve the problem. While it relies on scene understanding, the latter only considers objects that could originate hazard. These are denoted as action-inducing, since changes in their state should trigger vehicle actions. They also define a set of explanations for these actions, which should be produced jointly with the latter. An extension of the BDD100K dataset, annotated for a set of 4 actions and 21 explanations, is proposed. A new multi-task formulation of the problem, which optimizes the accuracy of both action commands and explanations, is then introduced. A CNN architecture is finally proposed to solve this problem, by combining reasoning about action inducing objects and global scene context. Experimental results show that the requirement of explanations improves the recognition of action-inducing objects, which in turn leads to better action predictions.
قيم البحث
اقرأ أيضاً
Decision-making strategy for autonomous vehicles de-scribes a sequence of driving maneuvers to achieve a certain navigational mission. This paper utilizes the deep reinforcement learning (DRL) method to address the continuous-horizon decision-making
problem on the highway. First, the vehicle kinematics and driving scenario on the freeway are introduced. The running objective of the ego automated vehicle is to execute an efficient and smooth policy without collision. Then, the particular algorithm named proximal policy optimization (PPO)-enhanced DRL is illustrated. To overcome the challenges in tardy training efficiency and sample inefficiency, this applied algorithm could realize high learning efficiency and excellent control performance. Finally, the PPO-DRL-based decision-making strategy is estimated from multiple perspectives, including the optimality, learning efficiency, and adaptability. Its potential for online application is discussed by applying it to similar driving scenarios.
Pedestrian action recognition and intention prediction is one of the core issues in the field of autonomous driving. In this research field, action recognition is one of the key technologies. A large number of scholars have done a lot of work to im-p
rove the accuracy of the algorithm for the task. However, there are relatively few studies and improvements in the computational complexity of algorithms and sys-tem real-time. In the autonomous driving application scenario, the real-time per-formance and ultra-low latency of the algorithm are extremely important evalua-tion indicators, which are directly related to the availability and safety of the au-tonomous driving system. To this end, we construct a bypass enhanced RGB flow model, which combines the previous two-branch algorithm to extract RGB feature information and optical flow feature information respectively. In the train-ing phase, the two branches are merged by distillation method, and the bypass enhancement is combined in the inference phase to ensure accuracy. The real-time behavior of the behavior recognition algorithm is significantly improved on the premise that the accuracy does not decrease. Experiments confirm the superiority and effectiveness of our algorithm.
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects (vehicles), capable
of accepting object proposals from different sensor modalities (vision and range) and a variable number of sensors, to produce continuous object tracks. This work is a generalization of the MDP framework for MOT, with some key extensions - First, we track objects across multiple cameras and across different sensor modalities. This is done by fusing object proposals across sensors accurately and efficiently. Second, the objects of interest (targets) are tracked directly in the real world. This is a departure from traditional techniques where objects are simply tracked in the image plane. Doing so allows the tracks to be readily used by an autonomous agent for navigation and related tasks. To verify the effectiveness of our approach, we test it on real world highway data collected from a heavily sensorized testbed capable of capturing full-surround information. We demonstrate that our framework is well-suited to track objects through entire maneuvers around the ego-vehicle, some of which take more than a few minutes to complete. We also leverage the modularity of our approach by comparing the effects of including/excluding different sensors, changing the total number of sensors, and the quality of object proposals on the final tracking result.
Pedestrians are arguably one of the most safety-critical road users to consider for autonomous vehicles in urban areas. In this paper, we address the problem of jointly detecting pedestrians and recognizing 32 pedestrian attributes from a single imag
e. These encompass visual appearance and behavior, and also include the forecasting of road crossing, which is a main safety concern. For this, we introduce a Multi-Task Learning (MTL) model relying on a composite field framework, which achieves both goals in an efficient way. Each field spatially locates pedestrian instances and aggregates attribute predictions over them. This formulation naturally leverages spatial context, making it well suited to low resolution scenarios such as autonomous driving. By increasing the number of attributes jointly learned, we highlight an issue related to the scales of gradients, which arises in MTL with numerous tasks. We solve it by normalizing the gradients coming from different objective functions when they join at the fork in the network architecture during the backward pass, referred to as fork-normalization. Experimental validation is performed on JAAD, a dataset providing numerous attributes for pedestrian analysis from autonomous vehicles, and shows competitive detection and attribute recognition results, as well as a more stable MTL training.
Risk is traditionally described as the expected likelihood of an undesirable outcome, such as collisions for autonomous vehicles. Accurately predicting risk or potentially risky situations is critical for the safe operation of autonomous vehicles. In
our previous work, we showed that risk could be characterized by two components: 1) the probability of an undesirable outcome and 2) an estimate of how undesirable the outcome is (loss). This paper is an extension to our previous work. In this paper, using our trained deep reinforcement learning model for navigating around crowds, we developed a risk-based decision-making framework for the autonomous vehicle that integrates the high-level risk-based path planning with the reinforcement learning-based low-level control. We evaluated our method in a high-fidelity simulation such as CARLA. This work can improve safety by allowing an autonomous vehicle to one day avoid and react to risky situations.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
