A neural network-based lane-keep assist (LKA) function: A sensitivity analysis related to prediction accuracy and false positives
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Författare
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Modellbyggare
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Sammanfattning
Road accidents are one of the leading causes of deaths worldwide (Road traffic injuries
2022). Around 1.3 million fatalities were reported due to road traffic crashes, and the
injuries and economic losses are even higher. The cause of the majority of these car
accidents can be attributed to human errors while driving (research note: 2016 fatal
motor vehicle crashes: overview - transportation 2017), emphasizing the importance of
reliable safety systems in modern automobiles. Lane Keep Assist (LKA) is one such
system commonly referred to as an Advanced Driver Assistance System (ADAS). The
LKA system plays a critical role in ADAS-equipped vehicles by assisting vehicles in
maintaining their lane positions. This research explores various factors that affect the
performance of a neural network-based LKA system. Real-world driving data, including
ego vehicle states and environmental information captured through a forward-looking
camera, has been collected and been made available for this study. The collected data
then underwent processing and normalization as part of this study, to facilitate subsequent
machine learning and analysis.
To enhance the dataset’s variability and improve the performance of the machine learning models, various data augmentation techniques were employed. The augmented data,
along with an appropriate sample size, was then used to train different machine learning
models. A main objective was to determine the optimal combination of data sampling,
data augmentation, and machine learning algorithms.
The evaluation of the models is based on multiple metrics, with a primary focus on intervention prediction accuracy. This metric measures the system’s ability to accurately
predict the need for LKA intervention based on the input signals provided. Additionally,
the Area Under Curve of the Receiver Operating Characteristics curve (AUC-ROC) is
used as a secondary evaluation metric. Furthermore, tools such as the confusion matrix
are utilized to obtain a visual representation of the system’s performance.
The findings of this study provide valuable insights into the influence of a variety of
modeling parameters and methodological choices on the performance of neural networkbased LKA systems
Beskrivning
Ämne/nyckelord
Road accidents, Advanced Driver Assistance System (ADAS), Lane Keep Assist (LKA), False Positives, Neural Network