卷积神经网络行为克隆方法在无人车上的研究  

Research on behavioral cloning method based on convolutional neural network in unmanned vehicles

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作  者:席阿行 赵津[1] 周滔 胡秋霞[1] XI A’xing;ZHAO Jin;ZHOU Tao;HU Qiuxia(Department of Mechanical Engineering,Guizhou University,Guiyang 550025,China)

机构地区:[1]贵州大学机械工程学院

出  处:《现代电子技术》2019年第22期178-182,共5页Modern Electronics Technique

基  金:黔科合支撑([2017]2027;[2018]2168);黔科合平台人才([2017]5630)~~

摘  要:为了减少智能车在特定环境下无人驾驶的成本,设计一套卷积神经网络行为克隆方法的无人驾驶系统。该系统模仿人类学习的过程,通过卷积神经网络预测车辆状态方法实现无人驾驶。采用普通的视觉传感器获取环境信息。先研究卷积神经网络行为克隆方法,并搭建基于Linux系统的树莓派智能小车,设计2组实验验证该方法的准确性。该方法已成功地应用于首届“DIY Robocars KuaiKai”无人驾驶全球挑战赛小车组,结果表明卷积神经网络行为克隆方法可以实现特定环境下的无人驾驶。An unmanned system using behavior cloning method,which is based on convolutional neural network,is de signed to reduce the cost of the intelligent driving technology of unmanned vehicles in a specific environment.This system imi tates the process of human learning and predicts vehicle state by using convolutional neural network to realize unmanned driving.Ordinary visual sensors are used to obtain environmental information.Behavioral cloning method based on convolutional neural network is studied.An intelligent vehicle based on Linux system Raspberry Pi is designed,and two sets of experiments are de signed to verify the accuracy of the method.The method was successfully applied to a global challenge car team joining the first"DIY Robocars KuaiKai".The experimental results show that the behavioral cloning method based on convolutional neural net work can realize unmanned driving in a specific environment.

关 键 词:卷积神经网络 行为克隆 无人驾驶 智能小车 树莓派 视觉传感器 

分 类 号:TN711[电子电信—电路与系统] 34[自动化与计算机技术—计算机系统结构] TP301.6[自动化与计算机技术—计算机科学与技术]

 

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