AUTHOR=Yang Lei , Lei Weimin , Zhang Wei , Ye Tianbing 

TITLE=Dual-flow network with attention for autonomous driving

JOURNAL=Frontiers in Neurorobotics

VOLUME=16

YEAR=2023

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2022.978225

DOI=10.3389/fnbot.2022.978225

ISSN=1662-5218

ABSTRACT=<p>We present a dual-flow network for autonomous driving using an attention mechanism. The model works as follows: (i) The perception network extracts red, blue, and green (RGB) images from the video at low speed as input and performs feature extraction of the images; (ii) The motion network obtains grayscale images from the video at high speed as the input and completes the extraction of object motion features; (iii) The perception and motion networks are fused using an attention mechanism at each feature layer to perform the waypoint prediction. The model was trained and tested using the CARLA simulator and enabled autonomous driving in complex urban environments, achieving a success rate of 74%, especially in the case of multiple dynamic objects.</p>