scholarly journals Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayereh Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

scholarly journals Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayere Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayere Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

scholarly journals Computer vision based obstacle detection and target tracking for autonomous vehicles

2021 ◽  
Vol 336 ◽  
pp. 07004
Author(s):  
Ruoyu Fang ◽  
Cheng Cai
Keyword(s):  
Neural Network ◽  
Computer Vision ◽  
Deep Learning ◽  
Target Tracking ◽  
Real Time ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Obstacle Detection ◽  
Pid Algorithm ◽  
Deep Learning Neural Network

Obstacle detection and target tracking are two major issues for intelligent autonomous vehicles. This paper proposes a new scheme to achieve target tracking and real-time obstacle detection of obstacles based on computer vision. ResNet-18 deep learning neural network is utilized for obstacle detection and Yolo-v3 deep learning neural network is employed for real-time target tracking. These two trained models can be deployed on an autonomous vehicle equipped with an NVIDIA Jetson Nano motherboard. The autonomous vehicle moves to avoid obstacles and follow tracked targets by camera. Adjusting the steering and movement of the autonomous vehicle according to the PID algorithm during the movement, therefore, will help the proposed vehicle achieve stable and precise tracking.

scholarly journals An Improved Fully Convolutional Network Based on Post-Processing with Global Variance Equalization and Noise-Aware Training for Speech Enhancement

2021 ◽  
Vol 25 (1) ◽  
pp. 130-137
Author(s):  
Wenlong Li ◽  
◽  
Kaoru Hirota ◽  
Yaping Dai ◽  
Zhiyang Jia
Keyword(s):  
Neural Network ◽  
Speech Enhancement ◽  
Deep Neural Network ◽  
Voice Conversion ◽  
Post Processing ◽  
Generalization Capability ◽  
Convolutional Network ◽  
Fully Convolutional Network ◽  
Subjective Score ◽  
Model Training

An improved fully convolutional network based on post-processing with global variance (GV) equalization and noise-aware training (PN-FCN) for speech enhancement model is proposed. It aims at reducing the complexity of the speech improvement system, and it solves overly smooth speech signal spectrogram problem and poor generalization capability. The PN-FCN is fed with the noisy speech samples augmented with an estimate of the noise. In this way, the PN-FCN uses additional online noise information to better predict the clean speech. Besides, PN-FCN uses the global variance information, which improve the subjective score in a voice conversion task. Finally, the proposed framework adopts FCN, and the number of parameters is one-seventh of deep neural network (DNN). Results of experiments on the Valentini-Botinhaos dataset demonstrate that the proposed framework achieves improvements in both denoising effect and model training speed.

Autonomous Vehicle Control Using a Deep Neural Network and Jetson Nano

2020 ◽  
Author(s):  
Rocco Febbo ◽  
Brendan Flood ◽  
Julian Halloy ◽  
Patrick Lau ◽  
Kwai Wong ◽  
...  
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Vehicle Control

Improving the learning of self-driving vehicles based on real driving behavior using deep neural network techniques

2020 ◽  
Author(s):  
Nayereh Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Driving Behavior

scholarly journals Real-Time Detection for Wheat Head Applying Deep Neural Network

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 191
Author(s):  
Bo Gong ◽  
Daji Ergu ◽  
Ying Cai ◽  
Bo Ma
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Deep Neural Network ◽  
Data Augmentation ◽  
Detection Methods ◽  
Convolutional Network ◽  
Head Detection ◽  
Real Time Detection ◽  
Low Efficiency ◽  
Basic Network

Wheat head detection can estimate various wheat traits, such as density, health, and the presence of wheat head. However, traditional detection methods have a huge array of problems, including low efficiency, strong subjectivity, and poor accuracy. In this paper, a method of wheat-head detection based on a deep neural network is proposed to enhance the speed and accuracy of detection. The YOLOv4 is taken as the basic network. The backbone part in the basic network is enhanced by adding dual spatial pyramid pooling (SPP) networks to improve the ability of feature learning and increase the receptive field of the convolutional network. Multilevel features are obtained by a multipath neck part using a top-down to bottom-up strategy. Finally, YOLOv3′s head structures are used to predict the boxes of wheat heads. For training images, some data augmentation technologies are used. The experimental results demonstrate that the proposed method has a significant advantage in accuracy and speed. The mean average precision of our method is 94.5%, and the detection speed is 71 FPS that can achieve the effect of real-time detection.

scholarly journals A Formation Flight Method with an Improved Deep Neural Network for Multi-UAV System

2020 ◽  
Vol 38 (2) ◽  
pp. 295-302
Author(s):  
Wenguang Xie ◽  
Kang Wu ◽  
Fang Yan ◽  
Haobin Shi ◽  
Xiaocheng Zhang
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Pid Controller ◽  
Deep Neural Network ◽  
High Dimensional Data ◽  
Formation Flight ◽  
High Dimensional ◽  
Electronic Warfare ◽  
The Real ◽  
Multi Uav

It is crucial to develop an effective controller for the multi-UAV system to contribute to the frontier fields, such as the electronic warfare. To address the dilemma of the cooperative formation with the high dimensional data, a deep neural network(NN) controller is developed in this paper. Firstly, a deep NN model is used to tune parameters of PID controller online. Secondly, this paper introduces an improved deep NN model integrating the momentum to improve the performance of the classical NN model and satisfy the condition for the real time cooperative formation. Lastly, the cooperative formation task is achieved by extending the proposed cooperative controller with an improved NN to the complex multi-UAV system. The simulation result of multi-UAV formation demonstrates the effectiveness of the proposed method, which achieves a faster formation than competitors.

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