SteeringLoss: A Cost-Sensitive Loss Function for the End-to-End Steering Estimation

Imbalanced training is a challenge in the field of autonomous driving. For the steering estimation task, imbalanced training is the core reason that an end-to-end model cannot estimate sharp steering value well. Inspired by researches on the steering estimation, this paper proposes a novel loss function to train a high-performance end-to-end model for handling the imbalanced training problem, which is named SteeringLoss. Firstly, the imbalanced distribution of the steering value for driving datasets is analyzed, which is similar to the double long-tailed distribution. Secondly, with the feature of distribution, this paper designs a cost-sensitive loss function step by step, the new loss function can improve the impact of the sharp steering value while maintaining the impact of the small steering value. Thirdly, three typical steering estimation models are established with SteeringLoss for demonstration, including the CNN model, the CNN-LSTM model and the 3DCNN-LSTM model. Finally, three experiments are designed for SteeringLoss: Experiment I demonstrates SteeringLoss can avoid imbalanced training problem; Experiment II discusses the finetuning principle of SteeringLoss and gives the basic guideline for using SteeringLoss; Experiment III shows the results on different typical end-to-end steering estimation models, which shows effectiveness of SteeringLoss for all the models and gives different solutions for the steering estimation. Moreover, the SteeringLoss is suitable for the imbalanced training with similar distributions of datasets besides end-to-end steering estimation, which indicates the potential value of the research on SteeringLoss in the future.


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  • Accession Number: 01768823
  • Record Type: Publication
  • Files: TLIB, TRIS
  • Created Date: Feb 19 2021 1:58PM