Autonomous vehicles (AVs) are expected to greatly redefine the future of transportation. However, before people fully realize the benefits of autonomous vehicles, there are still major engineering challenges to be solved. One of the challenges is to build models that reliably predict the movement of the vehicle and its surrounding objects. In this paper, we proposed our ML policy to fully control a Self Driving Vehicle (SDV). The policy is a CNN architecture based on ResNet50 which is invoked by the SDV to obtain the next command to execute. In each step, we predict several different trajectories and their probabilities to assist us in decision-making. Compared with VGG16 and ResNet34, the simulation results demonstrate that our model based on ResN et50 improves the performance by 2.23% and 22.5%, respectively. It also shows that ResNet achieves better performance than VGG in the aspect of motion prediction. What's more, increasing the depth of the network can further improve the performance of the network.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Motion Prediction for Autonomous Vehicles Using ResNet-Based Model


    Beteiligte:
    ZeHao, Yao (Autor:in) / Wang, LiQian (Autor:in) / Liu, Ke (Autor:in) / Li, YuanQing (Autor:in)


    Erscheinungsdatum :

    2021-01-01


    Format / Umfang :

    592151 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    OBJECT MOTION PREDICTION AND VEHICLE CONTROL FOR AUTONOMOUS VEHICLES

    ANSARI ALEXANDER RASHID / STYLER ALEXANDER DAVID | Europäisches Patentamt | 2023

    Freier Zugriff

    Violence Detection System Using Resnet

    Shripriya, C / Akshaya, J / Sowmya, R et al. | IEEE | 2021


    Suppressing motion artefacts in MRI using an Inception‐ResNet network with motion simulation augmentation

    Pawar, Kamlesh / Chen, Zhaolin / Shah, N. J. et al. | BASE | 2022

    Freier Zugriff

    Impedance-based motion control for autonomous vehicles

    YADMELLAT PEYMAN | Europäisches Patentamt | 2021

    Freier Zugriff

    Model to predict motion sickness within autonomous vehicles

    Salter, Spencer / Diels, Cyriel / Herriotts, Paul et al. | SAGE Publications | 2020