笔记:深度学习驱动的自动驾驶新主流框架盘点(附3篇论文)
提纲
- Nvidia DRIVE深度学习解决方案
- Mobileye深度学习方案
- Comma.ai深度学习方案
Nvidia DRIVE深度学习解决方案
- DGX-1 Training Platform
- DriveWorks PX2 传感器同步、标定、数据采集和记录
英伟达论文下载:https://pan.baidu.com/s/1bo4jTvx
Mobileye深度学习方案 Shashua
Sensing: Environmental Model (360 awareness)
- 运动和静止的物体、车道线、可行驶区域和交通标志
- Moving/Stationary Objects:
- 0 false-pos part of ADAS?
- Vehicles at any angle
- General (non-model-based) objects
- Path Delimiters: free-space, detect “any boundary”, label types of boundaries
- Drivable Paths
- Detect lane boundaries of all drivable paths (even when lanes are non-existent)
- host left/right, left/right mark of next lane left/right
- Attach semantic meaning to each path (pavement markings and other contextual information)
- Detect “key points” (merge, split, etc.)
- Detect lane boundaries of all drivable paths (even when lanes are non-existent)
- End-to-End vs Semantic Abstraction
- 专家经验,领域知识,人工监督
- End-to-End 对极端情况(Corner Cases)的应变能力比较差
高精度地图技术(Roadbook, REM,Road Experience Management)
- 纹理和色彩特征来生成地图
- 三维上稀疏,地面一维稠密的结构
三维元素
- 不会包括原始图像数据,而是经过识别后的语义信息
- Landmarks hierarchy:
- Traffic signs (including arrows on the road and other marks) (~1000 tags, ~10bits)
- Directional signs (~10000 tags, ~13bits)
- General rectangular signs (signature ~50 bytes)
- Lampposts and reflectors (<100tags)
- Additional families of landmarks (e.g., dashed lines) will be added if needed
地面一维
- 道路模型,包括车道线的精确位置、连接关系等
- Location of lanes
- Stitch (ego-motion)
- X(t) = a3 * t^3 + a2 * t^2 + a1 * t^1 + a0
- Y(t) = b3 * t^3 + b2 * t^2 + b1 * t^1 + b0
- Z(t) = c3 * t^3 + c2 * t^2 + c1 * t^1 + c0
Crowd Sourced
- Integration of REM segments (10kb per km)
- Increase accuracy of landmarks
- Change detection
Sensing vs Planning
- DeepMind采用的DQN网络不同,他们还考虑了驾驶过程中的时序性
- Reinforcement learning
- arXiv paper by Mobileye
Comma.ai深度学习方案
CNN + RNN
comma.ai 论文下载:https://pan.baidu.com/s/1pLPawVh
参考资料
【智驾深谈】深度学习驱动的自动驾驶新主流框架盘点(附3篇论文)
https://mp.weixin.qq.com/s?src=3×tamp=1514026808&ver=1&signature=TuAMvlukldb23hcWJPdVOp8P8bAFnBRM-EHMq2o2BzSqNr0tcM7jsewvg-GR1COc9RsX9bZjiil8VNdcuTB8bgOug0ZcvtAyltEaOrE4DpV*GM8uTJ1KvTtiFFgbdW3o3kSEIhcyrBjUGQGXYLurTBTpt*qsJK6hl7xhZvslTjk=