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ACM4

1) The document discusses a study that aims to develop an autonomous vehicle prototype using YOLOP (You Only Look Once - Person) for object detection, lane segmentation, and drivable area segmentation. 2) The researchers collect and label over 100,000 images to train and evaluate models for these tasks. 3) They then implement lane keeping using computer vision techniques based on the YOLOP model output and test the autonomous vehicle prototype in simulations before real-world deployment.

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Ricky Layderos
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19 views1 page

ACM4

1) The document discusses a study that aims to develop an autonomous vehicle prototype using YOLOP (You Only Look Once - Person) for object detection, lane segmentation, and drivable area segmentation. 2) The researchers collect and label over 100,000 images to train and evaluate models for these tasks. 3) They then implement lane keeping using computer vision techniques based on the YOLOP model output and test the autonomous vehicle prototype in simulations before real-world deployment.

Uploaded by

Ricky Layderos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Ricky C. Layderos, Bryan N. Lomerio, and Aaron Francis L.

Pacardo

𝑇𝑃 Prototyping
𝐼𝑜𝑈 = 1 − Custom Dataset
𝑇𝑃 + 𝐹𝑃 + 𝐹𝑁 Labels
Model Training

is added to Lllseg as it is efficient for predicting sparse categories Lane Keeping Implementation

of lane lines.𝐿da-seg and 𝐿ll-seg are defined as shown in equations


(2) and (3):
Evaluation and testing
Autonomous Vehicle Prototype
𝐿da-seg = 𝐿ce (2)
𝐿ll-seg = 𝐿ce + 𝐿IoU (3)
The final loss is a weighted sum of all three parts as shown in Test Cases Vehicle
Lane Simulation
Keeping Testing
Implementation
Benchmarking Comparison
equation (4):
𝐿all = 1𝐿det + 2𝐿da-seg + 3𝐿ll-seg (4)
where 𝛼 1 , 𝛼 2 , 𝛼 3 , 𝛾 1 , 𝛾 2 , and 𝛾 3 can be adjusted to achieve a balance Figure 4: Conceptual Framework
among all components of the overall loss.
Likert Scale. The Likert scale is an invaluable tool that the re-
searchers employed for the purpose of evaluating and grading the Autonomous Vehicle Prototype. Once data collection and prepa-
test cases associated with Pretrained YOLOP and Custom YOLOP ration is successful, test cases are presented, and the training is
weight, both for daytime and nighttime results. This scale offers successful, a prototype of Autonomous vehicle will be made and
a structured and standardized approach to assess the quality and deployed.
effectiveness of these test cases. Further- more, the application of Prototype Simulation and Testing. The performance of the Au-
the Likert scale enhances the reliability and comparability of the tonomous Vehicle Pro- totype is tested using simulated road sce-
evaluation process, enabling researchers to draw robust conclu- narios. Five test cases, each comprising three test runs, will be
sions about the efficacy of Pretrained YOLOP and Custom YOLOP conducted. These tests include lane keeping and object collision
weights in both daytime and nighttime scenarios. avoidance.
Arithmetic Mean. The average Likert scale outcomes of the test
cases was determined using the Arithmetic Mean (AM), a statistical 3 RESULTS AND DISCUSSION
measure that is computed by adding up all of the individual Likert
scale values and dividing the total by the total number of values. 3.1 Explore and Evaluate YOLOP
A greater grasp of the whole evaluation is made possible by this This evaluation explores the YOLOP-based autonomous vehicle pro-
procedure, which helps condense the collective assessment into a totype, encompass- ing inter-device communication, motor control,
single numerical representation. and comprehensive testing scenarios. The pseudocode outlines key
Mathematically, the mean is defined as: functions for effective communication and motor control, while
Mean = Sum of Given Values/Total Number of Values testing results provide insights into system performance and ar-
eas for refinement. This iter- ative process highlights the proto-
2.5 Conceptual Framework type’s strengths and limitations, emphasizing the ongoing need for
The framework of this study is the following: fine-tuning to enhance its reliability in diverse real-world driving
scenarios.
Custom Data Labeling. The first step was to customize the labels
used from the datasets incorporated in the training. Previously, only 3.2 Data Preparation
one label was utilized from the datasets used in the previous study. After building the respective algorithms for each model architecture,
BDD100K Datasets were used for the training, adding 12 categories multiple training sessions were conducted before coming up to final
for a total of 13 categories. results.

Model Training.The training involves training a model for object Table 1: Total no. of Images Dataset used in the Model
detection, lane-line segmentation, and drivable area segmentation.
It can take several hours depending on the dataset size and com- Dataset Total Number
puting power. Total Number of Datasets (Training) 70000
Evaluation and Testing. In the context of evaluation and testing, Total Number of Datasets (Testing) 20000
precision and recall were employed for object detection. For drivable Total Number of Datasets (Validation) 10000
area accuracy assessment, the researchers utilized IoU and mIoU. Total Number of Images 100,000
Similarly, in the case of lane line segmentation, the metrics of
interest include accuracy, IoU, and mIoU.
Lane Keeping Implementation. After model training, the lane The dataset was subsection into 3 categories which are for train-
keeping implementa- tion is vital in prototyping as this will help ing, testing, and validation. First, the total number of images utilized
the driving system vehicle to stay on the lane, using Computer for training is 70000 datasets which are responsible for object de-
Vision techniques based on the output of the YOLOP model. tection wherein the goal is to identify and locate objects. A portion

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