Comparing Output Modalities in End-to-End Driving

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dc.contributor.advisorMatiisen, Tambet, juhendaja
dc.contributor.advisorTampuu, Ardi, juhendaja
dc.contributor.authorAidla, Romet
dc.contributor.otherTartu Ülikool. Loodus- ja täppisteaduste valdkondet
dc.contributor.otherTartu Ülikool. Arvutiteaduse instituutet
dc.date.accessioned2023-09-01T09:28:36Z
dc.date.available2023-09-01T09:28:36Z
dc.date.issued2022
dc.description.abstractSelf-driving car technology has made significant steps in the last ten years with the advancements in neural networks. The first autonomous vehicles are driving in San Francisco and Beijing. One of the promising approaches is end-to-end driving, where a neural network transforms an input image from a camera to output commands to control the vehicle. The most common output modalities are steering angle and trajectory. Both have been extensively benchmarked but not compared in similar settings. Metrics are usually calculated off-policy using a separated test dataset or on-policy using a simulator, but these have proven to correlate weakly with real-life performance. In this thesis, the comparison is made using an autonomous vehicle driving on WRC Rally Estonia tracks. The results show that the trajectory prediction approach is better at road positioning and recovering from non-ideal trajectories, which results in fewer situations where the safety driver has to take over.et
dc.identifier.urihttps://hdl.handle.net/10062/91950
dc.language.isoenget
dc.publisherTartu Ülikoolet
dc.rightsopenAccesset
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectComputer Visionet
dc.subjectartificial neural networkset
dc.subjectautonomous vehicleset
dc.subjectend-to-end-drivinget
dc.subjectmodel evaluationet
dc.subject.othermagistritöödet
dc.subject.otherinformaatikaet
dc.subject.otherinfotehnoloogiaet
dc.subject.otherinformaticset
dc.subject.otherinfotechnologyet
dc.titleComparing Output Modalities in End-to-End Drivinget
dc.typeThesiset

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