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Authors: Marwan Elkholy ; Kirollos Nagy ; Mario Magdy and Hesham H. Ibrahim

Affiliation: Mechatronics Department, German University in Cairo, New Cairo, Egypt

Keyword(s): DQN Deep Q-Network, CNN Convolutional Neural Network, Relu Rectified Linear Unit, MSE Mean Square Error.

Abstract: Safety issues concerning autonomous vehicles are becoming increasingly striking. Therefore, taking security issues of autonomous driving into account such as detection and identification of the vehicle in the surrounding is necessary to apply warning messages and braking based on the state of the vehicle. This paper develops an end to end deep learning, using different recognition algorithms, to promote the safety of autonomous vehicles in terms of controlling the steering and speed of a self-driving car. Two convolutional neural network architectures are presented with different number of filters in their layers. The networks were trained to take images as input data and scan the raw pixels and convert them directly into steering angle command and speed value. Also, an object recognition algorithm is provided which detects and determines the objects and their distances from the controlled car to have a collision warning system by using a pre-trained single shot detector model. All p redicted speed values and steering angles, alongside the object detection model, are then translated into throttle and braking values while evaluating the models using a simulator and real road videos. (More)

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Paper citation in several formats:
Elkholy, M.; Nagy, K.; Magdy, M. and Ibrahim, H. (2021). Autonomous Braking and End to End Learning using Single Shot Detection Model and Convolutional Neural Network. In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-513-5; ISSN 2184-495X, SciTePress, pages 309-316. DOI: 10.5220/0010398003090316

@conference{vehits21,
author={Marwan Elkholy. and Kirollos Nagy. and Mario Magdy. and Hesham H. Ibrahim.},
title={Autonomous Braking and End to End Learning using Single Shot Detection Model and Convolutional Neural Network},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2021},
pages={309-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010398003090316},
isbn={978-989-758-513-5},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Autonomous Braking and End to End Learning using Single Shot Detection Model and Convolutional Neural Network
SN - 978-989-758-513-5
IS - 2184-495X
AU - Elkholy, M.
AU - Nagy, K.
AU - Magdy, M.
AU - Ibrahim, H.
PY - 2021
SP - 309
EP - 316
DO - 10.5220/0010398003090316
PB - SciTePress

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