The following diagram illustrates a high level overview of our sensor integration into CARLA and the evaluation framework for End-to-End Driving.
-The Transfuser++ model is the state-of-the-art End-to-End driving model that utilizes Camera and LiDAR sensors for perception and path planning. The model is trained on data from an expert driver provided by CARLA and it predicts the future waypoints/direction and the velocity of the ego vehicle. We substitute the LiDAR input with our integrated C-Shenron radar sensor and re-train multiple models with varying radar views. In our results, we showcase that using radar sensors have improved the driving score and overall situational awareness of the model, indicating the accuracy of our sensor.
- title: Sensor Views