Deep Driving with Additional Guided Inputs for Crossings in Pedestrian Zones

Qazi Jan, Jan Kleen, Karsten Berns

2023

Abstract

Deep Neural Networks are being used in different applications to solve complex tasks with high precision. One application, also the focus of this paper, is end-to-end driving. Generally, in an end-to-end approach, a neural network learns to directly feed values to actuators based on sensor inputs. This paper uses an End-to-end approach with images and additional direction inputs:left, right and straight for imposing a certain direction at unstructured and arbitrary intersections of pedestrian zones. Expecting high precision for predicted steering in pedestrian zones could be uncertain due to the atypical structures of intersections. Findings for increased accuracy are done using direction inputs with three variants of two approaches: Single and parallel model. Depth information was included to overcome shadow problems from RGB in simulation, but it resulted in worsening the drive, and hence removed in further experiments. The experiments are performed in simulation to verify the utility of the proposed approaches and narrow down the best models for actual hardware. From the experiments, it is seen that parallel model with front images have performed best. The model drove well along the paths and followed the given input direction from the user at the crossings. To maintain the length of this paper, only results for parallel structures are discussed.

Paper Citation

in Harvard Style

Jan Q., Kleen J. and Berns K. (2023). Deep Driving with Additional Guided Inputs for Crossings in Pedestrian Zones. In Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-652-1, SciTePress, pages 402-409. DOI: 10.5220/0011999600003479

in Bibtex Style

@conference{vehits23,
author={Qazi Jan and Jan Kleen and Karsten Berns},
title={Deep Driving with Additional Guided Inputs for Crossings in Pedestrian Zones},
booktitle={Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2023},
pages={402-409},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011999600003479},
isbn={978-989-758-652-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Deep Driving with Additional Guided Inputs for Crossings in Pedestrian Zones
SN - 978-989-758-652-1
AU - Jan Q.
AU - Kleen J.
AU - Berns K.
PY - 2023
SP - 402
EP - 409
DO - 10.5220/0011999600003479
PB - SciTePress