Autonomous Vehicle From Unexpected Obstacles On

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Sensors 2020, 20, 47196 of 223.2. Gradient PotentialThe potential gradient at the site (i, j) is defined as follows:qgEu (i, j) 2Gx (i, j)2 G y (i, j)2(3)Partial derivative (Gx (i, j) and G y (i, j)) is calculated in the horizontal and vertical direction inthe original color image [69]. In

predict the steering wheel angle to navigate the autonomous vehicle safely. So that the autonomous vehicle is depended on the training dataset. If the CNN model is not trained on the roadway obstacle than navigation system of autonomous vehicle may generate incorrect information about the steer

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