Behavioral Cloning Models Reality Check for Autonomous Driving

• URL: http://arxiv.org/abs/2409.07218v1
• Date: Wed, 11 Sep 2024 12:19:38 GMT
• Title: Behavioral Cloning Models Reality Check for Autonomous Driving
• Authors: Mustafa Yildirim, Barkin Dagda, Vinal Asodia, Saber Fallah,
• Abstract summary: This paper presents the real-world validation of state-of-the-art perception systems that utilize Behavior Cloning (BC) for lateral control. The dataset was collected using a scaled research vehicle and tested on various track setups. Experimental results demonstrate that these methods predict steering angles with low error margins in real-time.
• Score: 5.021331908103135
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated environments, there is a notable lack of real-world validation for these systems. This paper addresses this gap by presenting the real-world validation of state-of-the-art perception systems that utilize Behavior Cloning (BC) for lateral control, processing raw image data to predict steering commands. The dataset was collected using a scaled research vehicle and tested on various track setups. Experimental results demonstrate that these methods predict steering angles with low error margins in real-time, indicating promising potential for real-world applications.

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