DAT:基于深度学习的加速意识轨迹预测
Ali Asghar Sharifi1, Ali Zoljodi1, Masoud Daneshtalab1,2
1School of Innovation, Design and Technology (IDT), Mälardalen University, 72123 Västerås, Sweden.
Journal of imaging
|December 27, 2024
概括
本研究介绍了基于深度学习的加速感知轨迹预测 (DAT) 模型,以实现更安全的自动驾驶. 通过纳入加速数据,DAT显著提高了对象轨迹预测的准确性,优于现有的方法.
科学领域:
- 机器人和人工智能 机器人和人工智能
- 计算机视觉 计算机视觉
- 机器学习 机器学习
背景情况:
- 自动驾驶 (AD) 系统需要强大的安全功能,对象检测和轨迹预测对于防止碰撞至关重要.
- 当前的AD系统在准确预测周围车辆和行人未来的移动方面面临着挑战.
研究的目的:
- 引入基于深度学习的加速感知轨迹预测 (DAT) 模型,用于在AD系统中增强对象检测和轨迹预测.
- 为了利用原始传感器测量和加速数据来更准确地预测代理运动.
主要方法:
- 开发了一个端到端的深度学习模型 (DAT),该模型处理顺序传感器数据,用于对象检测和轨迹预测.
- 引入了一个新的预测模块,利用加速数据和估计地面真相加速的方法.
- 集成了一个对象探测器,可以预测加速属性和一个新的轨迹预测方法.
主要成果:
- DAT在NuScenes数据集上进行了训练和评估,显示出与最先进的方法相比的显著改进.
- 预测准确度提高了2倍,特别是对于具有复杂线性和非线性运动模式的物体.
- 经验验证证证实了将加速数据纳入预测模型的有效性.
结论:
- 通过提高轨迹预测准确度,DAT模型代表了自动驾驶安全的重大进步.
- 纳入加速数据对于开发更可靠,更安全的自动驾驶系统至关重要.
- 建议的加速估计和轨迹预测方法为现实世界AD应用提供了强大的解决方案.
相关概念视频
01:10Relative Motion Analysis - Acceleration
312
A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
312
01:22Relative Motion Analysis using Rotating Axes - Acceleration
309
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
Time differentiation is...
Time differentiation is...
309
01:30Acceleration Vectors
7.9K
In everyday conversation, accelerating means speeding up. Acceleration is a vector in the same direction as the change in velocity, Δv, therefore the greater the acceleration, the greater the change in velocity over a given time. Since velocity is a vector, it can change in magnitude, direction, or both. Thus acceleration is a change in speed or direction, or both. For example, if a runner traveling at 10 km/h due east slows to a stop, reverses direction, and continues their run at 10 km/h...
7.9K
01:30Average Acceleration
9.3K
The importance of understanding acceleration spans our day-to-day experiences, as well as the vast reaches of outer space and the tiny world of subatomic physics. In everyday conversation, to accelerate means to speed up. For instance, we are familiar with the acceleration of our car; the harder we apply our foot to the gas pedal, the faster we accelerate. The greater the acceleration, the greater the change in velocity over a given time. Acceleration is widely seen in experimental physics. In...
9.3K
01:10Direction of Acceleration Vectors
8.0K
Acceleration occurs when velocity changes in magnitude (an increase or decrease in speed), direction, or both. Although acceleration is in the direction of the change in velocity, it is not always in the direction of motion. When an object slows down, its acceleration is opposite to the direction of its motion. This is commonly referred to as deceleration. However, the term deceleration can cause confusion in analysis because it is not a vector; it does not point to a specific direction with...
8.0K
01:12Measuring Acceleration Due to Gravity
470
Consider a coffee mug hanging on a hook in a pantry. If the mug gets knocked, it oscillates back and forth like a pendulum until the oscillations die out.
A simple pendulum can be described as a point mass and a string. Meanwhile, a physical pendulum is any object whose oscillations are similar to a simple pendulum, but cannot be modeled as a point mass on a string because its mass is distributed over a larger area. The behavior of a physical pendulum can be modeled using the principles of...
A simple pendulum can be described as a point mass and a string. Meanwhile, a physical pendulum is any object whose oscillations are similar to a simple pendulum, but cannot be modeled as a point mass on a string because its mass is distributed over a larger area. The behavior of a physical pendulum can be modeled using the principles of...
470