An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios

Studies on self-driving transport vehicles have focused on longitudinal and lateral driving strategies in automated structured road scenarios. In this study, a double parallel network (DP-Net) combined with longitudinal and lateral strategy networks is constructed for self-driving transport vehicles...

Full description

Bibliographic Details
Main Authors: Huiyuan Xiong, Huan Liu, Jian Ma, Yuelong Pan, Ronghui Zhang
Format: Article
Language:English
Published: MDPI AG 2021-04-01
Series:Sustainability
Subjects:
Online Access:https://www.mdpi.com/2071-1050/13/8/4531
id doaj-13d00af2f134429e81e424b6e884b4df
record_format Article
spelling doaj-13d00af2f134429e81e424b6e884b4df2021-04-19T23:04:09ZengMDPI AGSustainability2071-10502021-04-01134531453110.3390/su13084531An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road ScenariosHuiyuan Xiong0Huan Liu1Jian Ma2Yuelong Pan3Ronghui Zhang4Guangdong Provincial Key Laboratory of Intelligent Transport System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou 510275, ChinaGuangdong Provincial Key Laboratory of Intelligent Transport System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou 510275, ChinaChina Nuclear Power Engineering Co., Ltd., Shenzhen 518000, ChinaChina Nuclear Power Engineering Co., Ltd., Shenzhen 518000, ChinaGuangdong Provincial Key Laboratory of Intelligent Transport System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou 510275, ChinaStudies on self-driving transport vehicles have focused on longitudinal and lateral driving strategies in automated structured road scenarios. In this study, a double parallel network (DP-Net) combined with longitudinal and lateral strategy networks is constructed for self-driving transport vehicles in structured road scenarios, which is based on a convolutional neural network (CNN) and a long short-term memory network (LSTM). First, in feature extraction and perception, a preprocessing module is introduced that can ensure the effective extraction of visual information under complex illumination. Then, a parallel CNN sub-network is designed that is based on multifeature fusion to ensure better autonomous driving strategies. Meanwhile, a parallel LSTM sub-network is designed, which uses vehicle kinematic features as physical constraints to improve the prediction accuracy for steering angle and speed. The Udacity Challenge II dataset is used as the training set with the proposed DP-Net input requirements. Finally, for the proposed DP-Net, the root mean square error (RMSE) is used as the loss function, the mean absolute error (MAE) is used as the metric, and Adam is used as the optimization method. Compared with competing models such as PilotNet, CgNet, and E2E multimodal multitask network, the proposed DP-Net is more robust in handling complex illumination. The RMSE and MAE values for predicting the steering angle of the E2E multimodal multitask network are 0.0584 and 0.0163 rad, respectively; for the proposed DP-Net, those values are 0.0107 and 0.0054 rad, i.e., 81.7% and 66.9% lower, respectively. In addition, the proposed DP-Net also has higher accuracy in speed prediction. Upon testing the collected SYSU Campus dataset, good predictions are also obtained. These results should provide significant guidance for using a DP-Net to deploy multi-axle transport vehicles.https://www.mdpi.com/2071-1050/13/8/4531autonomous drivinglongitudinal and lateral driving strategycomplex illuminationvehicle kinematics
collection DOAJ
language English
format Article
sources DOAJ
author Huiyuan Xiong
Huan Liu
Jian Ma
Yuelong Pan
Ronghui Zhang
spellingShingle Huiyuan Xiong
Huan Liu
Jian Ma
Yuelong Pan
Ronghui Zhang
An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
Sustainability
autonomous driving
longitudinal and lateral driving strategy
complex illumination
vehicle kinematics
author_facet Huiyuan Xiong
Huan Liu
Jian Ma
Yuelong Pan
Ronghui Zhang
author_sort Huiyuan Xiong
title An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
title_short An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
title_full An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
title_fullStr An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
title_full_unstemmed An NN-Based Double Parallel Longitudinal and Lateral Driving Strategy for Self-Driving Transport Vehicles in Structured Road Scenarios
title_sort nn-based double parallel longitudinal and lateral driving strategy for self-driving transport vehicles in structured road scenarios
publisher MDPI AG
series Sustainability
issn 2071-1050
publishDate 2021-04-01
description Studies on self-driving transport vehicles have focused on longitudinal and lateral driving strategies in automated structured road scenarios. In this study, a double parallel network (DP-Net) combined with longitudinal and lateral strategy networks is constructed for self-driving transport vehicles in structured road scenarios, which is based on a convolutional neural network (CNN) and a long short-term memory network (LSTM). First, in feature extraction and perception, a preprocessing module is introduced that can ensure the effective extraction of visual information under complex illumination. Then, a parallel CNN sub-network is designed that is based on multifeature fusion to ensure better autonomous driving strategies. Meanwhile, a parallel LSTM sub-network is designed, which uses vehicle kinematic features as physical constraints to improve the prediction accuracy for steering angle and speed. The Udacity Challenge II dataset is used as the training set with the proposed DP-Net input requirements. Finally, for the proposed DP-Net, the root mean square error (RMSE) is used as the loss function, the mean absolute error (MAE) is used as the metric, and Adam is used as the optimization method. Compared with competing models such as PilotNet, CgNet, and E2E multimodal multitask network, the proposed DP-Net is more robust in handling complex illumination. The RMSE and MAE values for predicting the steering angle of the E2E multimodal multitask network are 0.0584 and 0.0163 rad, respectively; for the proposed DP-Net, those values are 0.0107 and 0.0054 rad, i.e., 81.7% and 66.9% lower, respectively. In addition, the proposed DP-Net also has higher accuracy in speed prediction. Upon testing the collected SYSU Campus dataset, good predictions are also obtained. These results should provide significant guidance for using a DP-Net to deploy multi-axle transport vehicles.
topic autonomous driving
longitudinal and lateral driving strategy
complex illumination
vehicle kinematics
url https://www.mdpi.com/2071-1050/13/8/4531
work_keys_str_mv AT huiyuanxiong annnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT huanliu annnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT jianma annnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT yuelongpan annnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT ronghuizhang annnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT huiyuanxiong nnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT huanliu nnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT jianma nnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT yuelongpan nnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
AT ronghuizhang nnbaseddoubleparallellongitudinalandlateraldrivingstrategyforselfdrivingtransportvehiclesinstructuredroadscenarios
_version_ 1721518915879698432