In response to the issue of vehicle escape guidance, this manuscript proposes a unified intelligent control strategy synthesizing optimal guidance and Meta Deep Reinforcement Learning (DRL). Optimal control with minor energy consumption is introduced to meet terminal latitude, longitude and altitude. Maneuvering escape is realized by adding longitudinal and lateral direction maneuver overloads. Maneuver command decision model is calculated based on Soft-Actor-Critic (SAC) networks. Meta learning is introduced to enhance autonomous escape capability, which improves generalization performance to time-varying scenarios not encountered in the training process. In order to obtain training samples at a faster speed, this manuscript uses the prediction method to solve reward values, which avoiding a large number of numerical integration. The simulation results manifest that the proposed intelligent strategy can achieve high precise guidance and effective escape.

Carton detection is an important technique in the automatic logistics system and can be applied to many applications such as the stacking and unstacking of cartons, the unloading of cartons in the containers. However, there is no public large-scale carton dataset for the research community to train and evaluate the carton detection models up to now, which hinders the development of carton detection. In this paper, we present a large-scale carton dataset named Stacked Carton Dataset (SCD) with the goal of advancing the state-of-the-art in carton detection. Images are collected from the Internet and several warehouses, and objects are labeled using per-instance segmentation for precise localization. There are total of 250,000 instance masks from 16,136 images. Naturelly, a suite of benchmarks are established with several popular detectors. In addition, we design a carton detector based on RetinaNet by embedding our proposed Offset Prediction between Classification and Localization module (OPCL) and Boundary Guided Supervision module (BGS). OPCL alleviates the imbalance problem between classification and localization quality which boosts AP by 3.1%∼4.7% on SCD at the model level while BGS guides the detector to pay more attention to boundary information of cartons and decouple repeated carton textures at the task level. To demonstrate the generalization of OPCL to other datasets, we conduct extensive experiments on MS COCO and PASCAL VOC. The improvements of AP on MS COCO and PASCAL VOC are 1.8%∼2.2% and 3.4%∼4.3% respectively. Source dataset is available here.