Road Graphical Neural Networks for Autonomous Roundabout Driving
Timothy Ha,Gunmin Lee,Dohyeong Kim,Songhwai Oh,Timothy Ha,Gunmin Lee,Dohyeong Kim,Songhwai Oh
We propose a novel autonomous driving frame-work that leverages graph-based features of roads, such as road positions and connections. The proposed method is divided into two parts: a low-level controller which follows the trajectory calculated by a graph-based path planner, and a high-level controller which determines the speed of the vehicle to follow the traffic flow. The high-level controller ...
