上海科技大学知识管理系统

In autonomous driving, many learning-based methods for motion planing have been proposed in literature, which can predict motion commands directly from the sensory data of the environment, but these methods can neither predict multiple motion commands, such as steering angle, accelerator and brake, nor balance errors among different motion commands. In this paper, we propose a deep cascaded neural network for predicting multiple motion commands which can be trained in an end-to-end manner for autonomous driving. The proposed deep cascaded neural network consists of a convolutional neural network (CNN) and three long short-term memory (LSTM) units, fed with images from a front-facing camera installed at the vehicle. As the outputs, the proposed model can predict thee motion planning commands simultaneously including steering angle, acceleration, and brake to enable the autonomous driving. In order to balance errors among different motion commands and improve prediction accuracy, we propose a new network training algorithm, where three independent loss functions are designed to separately update the weights in the three LSTMs connected to three motion commands. We conduct comprehensive experiments using the data from a driving simulator and compare our method with the state-of-the-art methods. Simulation results demonstrate the proposed motion planning model achieves better accuracy performance than other models.