Transfer Learning-Based Steering Angle Prediction and Control with Fuzzy Signatures-Enhanced Fuzzy Systems for Autonomous Vehicles
Abstract
:1. Introduction
2. Related Works
3. Methodology
3.1. Convolutional Neural Networks
3.2. Transfer Learning
3.3. Fuzzy Systems Control
3.4. Fuzzy Signatures
3.5. Data Preprocessing
3.6. Data Augmentation
3.7. Model Architecture
3.8. Algorithm
Algorithm 1 Steering Angle Prediction and Control |
Require: Input image sequences, Ensure: Controlled motor position, C
|
4. Modeling and Simulation
4.1. CNN Model Building with Transfer Learning
4.2. Motor Model
4.3. Fuzzy Signatures-Enhanced Fuzzy System Controller
4.4. Experimental Steps
5. Results
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter (unit) | Value |
---|---|
J (kg·m2) | 0.08 |
B (kg/s·m) | 3 |
R (ohm) | 6 |
L (mH) | 3 |
k | 3 |
p | 4 |
u/u | NB | NS | Z | PS | PB |
---|---|---|---|---|---|
NB | NB | NB | NB | NS | Z |
NS | NB | NB | NS | Z | PS |
Z | NB | NS | Z | PS | PB |
PS | NS | Z | PS | PB | PB |
PB | Z | PS | PB | PB | PB |
Model | Mean Squared Error (MSE) | Mean Absolute Error (MAE) |
---|---|---|
NVIDIA | 0.0486 | 0.1622 |
Proposed Model | 0.0376 | 0.1454 |
Benefit | 22.63% | 10.35% |
Model | Performance Change (%) |
---|---|
3D LSTM [13] | −13.89 |
ResNet50 Transfer Learning [13] | 22.11 |
ANN [14] | 10.87 |
Proposed Model | 22.63 |
Actual Value | Predicted Value | Output Value |
---|---|---|
5.04° | 6.15° | 6.01° |
15.03° | 13.88° | 13.73° |
29.75° | 28.15° | 28.71° |
45.0° | 42.05° | 42.24° |
54.0° | 50.80° | 50.62° |
−15.13° | −14.80° | −14.50° |
−20.27° | −21.16° | −19.89° |
−27.0° | −28.08° | −28.27° |
−45.0° | −42.38° | −42.53° |
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Karadeniz, A.M.; Ballagi, Á.; Kóczy, L.T. Transfer Learning-Based Steering Angle Prediction and Control with Fuzzy Signatures-Enhanced Fuzzy Systems for Autonomous Vehicles. Symmetry 2024, 16, 1180. https://doi.org/10.3390/sym16091180
Karadeniz AM, Ballagi Á, Kóczy LT. Transfer Learning-Based Steering Angle Prediction and Control with Fuzzy Signatures-Enhanced Fuzzy Systems for Autonomous Vehicles. Symmetry. 2024; 16(9):1180. https://doi.org/10.3390/sym16091180
Chicago/Turabian StyleKaradeniz, Ahmet Mehmet, Áron Ballagi, and László T. Kóczy. 2024. "Transfer Learning-Based Steering Angle Prediction and Control with Fuzzy Signatures-Enhanced Fuzzy Systems for Autonomous Vehicles" Symmetry 16, no. 9: 1180. https://doi.org/10.3390/sym16091180