Vehicle Driving Direction Control Based on Compressed Network

摘要

Today, in the construction of smart city, the development of self-driving technology plays the key role. The explosion of convolutional neural network (CNN) technology has made it possible to utilize end-to-end tasks with images. However, today's CNN has deeper, more accurate characteristics. If we do not improve the calculation method to reduce the number of network parameters, this feature makes it very difficult for us to run neural network computing in small devices. In this paper, we further optimize the network computing methods based on Mobile-Nets to reduce number of network parameters. At the same time, in the network structure, we add BatchNormalization and Swish activation function. We designed our own network in the end-to-end prediction for steering angle in the self-driving car task. From the final simulation results, our neural network's storage space can be reduced and the execution speed of neural network can be improved while maintaining the accuracy of the neural network.