Giter VIP home page Giter VIP logo

jetson-nano-autopilot's Introduction

Jetson-Nano-Autopilot

简介

本项目是基于Jetson-Nano平台，使用NVIDIA JetRacer ROS框架进行开发的一套智能车应用。

v1.0版本主要实现了多车道巡航。

演示视频

Demo

主要功能：

  1. 基于Jupyter Notebook搭建的数据样本采集标注平台。
  2. 易于使用的卷积神经网络训练交互平台，通过深度学习回归任务，解决车道感知。
  3. 使用tensorRT前向网络加速。
  4. 交互控制台通过变道按钮进行车道变换。
  5. 动态PD实现转角闭环控制。
  6. 直道/弯道判断，并切换巡航速度。

软件支持

  • Python 3.6
  • Pytorch 1.4
  • CUDA 10.0
  • OpenCV 3.4
  • Jupyter Lab
  • Ipywidgets
  • JetRacer

使用说明

1. 数据采集

运行 notebook/data_collection_multi_target.ipynb

采集的数据命名为 目标标签+唯一ID

  • 修改 target_names 字段数量以更改感知车道数
  • 修改 DATASET_DIR 更改数据保存地址
2. 训练模型

运行 notebook/train_model_multi_target.ipynb

  • 修改 target_number 更改感知车道数
  • 修改 epochs_widget 更改训练迭代数
  • 修改 save_model_widget 更改模型保存地址及名称
3. 构建推理加速引擎

运行 notebook/build_trt_model.ipynb

4. 车道巡航

运行 notebook/inference_control.ipynb

jetson-nano-autopilot's People

Contributors

cnstjiatonglee avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.