Continuous Intention and Continuous Trajectory

Sensors used:

• LiDAR: Velodyne VLP-16
• Camera: MYNT EYE D-1000-120
• GPS: Qianxun D300-GNSS
• IMU： Xsens MTi-300-2A8G4

Learning Module

• Learning models
  • Driving Intention Module: learning/models.py GeneratorUNet and Discriminator
  • Trajectory Generation Module: learning/path_model.py ModelGRU
• Train model

python scripts/carla/train_path.py
python scripts/carla/train_GAN.py

Install

cd scripts
bash install.sh

Features

• Camera image reading in python with pybind11

bash device/camera/build.sh
python device/camera/run.py

• LiDAR data reading

cd device/lidar/velodyne-driver
mkdir build
cd build
cmake ..
make -j16
sudo make install
cd ../../
python lidar.py

• IMU data reading

bash scripts/real/get_permission.sh
python device/imu/mtnode.py

• XBox control
  • Right axis up: speed
  • Top axis left and right: rotation
  • Buttom Y: forward
  • Buttom A: backward
  • Buttom LOG: break and stop
  • Hat up and down: increase or reduce max speed
  • Hat right and left: increase or reduce acceleration

bash scripts/real/get_permission.sh
cd device/controller
python xbox.py

ROS Wrapper

Build

cd ROS
bash build.sh

Launch

source devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
roslaunch velodyne_pointcloud VLP16_points.launch
python src/gps/scripts/run_gps.py
python src/imu/scripts/mtnode.py

Record

rosbag record /mynteye/left/image_color /velodyne_points /gps /imu

Read Rosbag

python ROS/src/tools/save_img.py -d 1 -b 2020-07-11-17-50-49.bag

Calibration

cd ROS
bash run_collect.sh

Robot Parameter

• Shaft length ： 688.008mm
• Axle distance ：1448.555mm
• Voltage : 48V

Video

Citation

If you use our source code, please consider citing the following:

@article{wang2020imitation,
  title={Imitation Learning of Hierarchical Driving Model: from Continuous Intention to Continuous Trajectory},
  author={Wang, Yunkai and Zhang, Dongkun and Wang, Jingke and Chen, Zexi and Wang, Yue and Xiong, Rong},
  journal={arXiv preprint arXiv:2010.10393},
  year={2020}
}