Optimizing Steering Angle Prediction in Self-Driving Vehicles Using Evolutionary Convolutional Neural Networks

Engineering notes

Key topics: self-driving vehicle, self-driving, prediction. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

The global community is awaiting the advent of a self-driving vehicle that is safe, reliable, and capable of navigating a diverse range of road conditions and terrains. This requires a lot of research, study, and optimization. Thus, this work focused on implementing, training, and optimizing a convolutional neural network (CNN) model, aiming to predict the steering angle during driving (one of the main issues). The considered dataset comprises images collected inside a car-driving simulator and further processed for augmentation and removal of unimportant details. In addition, an innovative data-balancing process was previously performed. A CNN model was trained with the dataset, conducting a comparison between several different standard optimizers. Moreover, evolutionary optimization was applied to optimize the model’s weights as well as the optimizers themselves. Several experiments were performed considering different approaches of genetic algorithms (GAs) along with other optimizers from the state of the art. The obtained results demonstrate that the GA is an effective optimization tool for this problem.

Links and sources

• Official / arXiv page
• PDF from original source

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