The Line Pressure Detection for Autonomous Vehicles Based on Deep Learning

Abstract

Nowadays, vehicle line pressure detection is an important function of an intelligent transportation system. At present, the line pressure detection algorithms mainly include algorithms based on traditional features and models and algorithms based on deep learning. However, these algorithms also have shortcomings such as low detection accuracy or relying on specific scenarios. In this regard, this paper proposes a fast and accurate vehicle line detection algorithm based on deep learning for vehicle images. The algorithm builds a GooleNet-based FCN semantic segmentation network and adds a BN layer, 1 × 1 convolution, and FPN structure to improve the segmentation effect of the GooleNet-FCN network and reduce network parameters. The MobileNet-SSD (no pretrained model) network structure is used for vehicle detection. According to the relationship between the receptive field and the anchor, and then combined with specific data, the prediction branch of the network and the Default Box on the branch are modified and the FPN structure is added for feature fusion to form the final improved MobileNet-SSD network. The experimental results show that the algorithm takes an average time of 67.8 ms per frame, the detection rate of line pressing for a vehicle is 96.6%, and the deep learning models are 25.5 M and 19.2 M, respectively. The experimental results verify the effectiveness and practicality of the detection algorithm proposed in this paper.