End-to-end steering estimation is one of the important deep regression tasks. However, driving datasets are always imbalanced on the distribution of the steering value, which makes end-to-end learning models perform bad steering estimation accuracy, especially for the sharp steering value estimation, which finally, leads to an imbalanced training problem. In this paper, the essential reason for the imbalanced training problem for the deep regression task is first revealed as the gradient disharmony. To hedge the gradient disharmony, a general gradient balanced mechanism for the deep regression task is proposed in this paper. Meanwhile, the general gradient balanced mechanism is applied for the steering estimation task. According to the steering distribution, a novel Adaptive Gradient Balanced Mechanism (AGBM) is proposed to hedge the gradient disharmony based on the Laplace distribution with the general gradient balanced mechanism theory. Further, a new loss function embedding with AGBM is proposed to balance the gradient disharmony for the training process. AGBM makes the process of gradient hedging with adaptive style without parameters finetuning. Based on five driving datasets, four experiments are conducted for demonstrations. The experiment results show the AGBM enables the end-to-end models to perform the best accuracy of the steering estimation, including the sharp steering samples. Meanwhile, AGBM is generalized with different end-to-end learning models.
AGBM: An Adaptive Gradient Balanced Mechanism for the End-to-End Steering Estimation
IEEE Transactions on Intelligent Transportation Systems ; 23 , 9 ; 16016-16025
2022-09-01
2837080 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
New steering gear for simplex balanced rudder
Engineering Index Backfile | 1930
New steering gear for simplex balanced rudder
Engineering Index Backfile | 1930
Steering mechanism and steering system having such steering mechanism
Europäisches Patentamt | 2023
|STEERING ANGLE ESTIMATION DEVICE, STEERING DEVICE, AND STEERING ANGLE ESTIMATION METHOD
Europäisches Patentamt | 2021
|