実験環境における自動運転の実装
Autonomous Driving Implementation in an Experimental Environment
カメラ搭載の模型車両を用い、CNNによる車線追従と障害物回避の意思決定機構を組み合わせた自動運転システムを実験環境で構築・評価した研究。
著者: Namig Aliyev, Oguzhan Sezer, Mehmet Turan Guzel
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane tracking. In this study, an autonomous driving system is developed and tested in the experimental environment designed for this purpose. In this system, a model vehicle having a camera is used to trace the lanes and avoid obstacles to experimentally study autonomous driving behavior. Convolutional Neural Network models were trained for Lane tracking. For the vehicle to avoid obstacles, corner detection, optical flow, focus of expansion, time to collision, balance calculation, and decision mechanism were created, respectively.