我有问题：
我正在尝试制造简单的自动驾驶汽车，该汽车可以平稳行驶并控制油门和刹车。
我遇到了这样的问题：
我无法将keras和当前车速连接到VGG_16模型。
已经尝试：
from keras.applications import VGG16
from keras import models
from keras import layers
from Train import *
import numpy as np
import keras
from keras.layers import concatenate
from keras.preprocessing import image
from keras.applications.vgg16 import preprocess_input
from keras.layers import Input, Flatten, Dense
from keras.models import Model
import numpy as np
import tensorflow as tf
import keras.backend as K
images, speed, labels = LoadGPS_SPEED() # load training data, image, car speed and label ([0, 1, 0], for example. Where [0 - left turn, 1 - throttle, 0 - right turn]
speed = speed.reshape(speed.shape[0], 1) # reshape to shape[0], 1, because speed is just a number (20, for example)
speed = K.variable(speed) # here is some magic, which i tired, because without that i got other error, lol. P.S Right after loading, images, speed and labels - are just numpy arrays
vgg_conv = VGG16(weights='imagenet', # VGG from default keras application
include_top=False)
for layer in vgg_conv.layers[0:-4]:
layer.trainable = False
input = Input(shape=(60,60,3),name = 'image_input')
output_vgg16_conv = vgg_conv(input)
conv_flat = layers.Flatten()(output_vgg16_conv)
conv_flat = concatenate([speed, conv_flat]) # trying to concatenate speed and flatten layer
conv_flat = layers.Dense(1024, activation='relu')(conv_flat)
conv_flat = layers.Dropout(0.5)(conv_flat)
conv_flat = layers.Dense(3, activation='softmax')(conv_flat) # 3 possible actions
并得到了这样的错误：
回溯（最近通话最近）：文件 “ D：/Python_Projects/ProjectCars/ModelGenerate.py”，第34行，在 conv_flat =串联（[speed，conv_flat]）
文件“ C：\ Program Files \ Python35 \ lib \ site-packages \ keras \ layers \ merge.py“，第649行，在 级联 返回Concatenate（axis = axis，** kwargs）（输入）
文件“ C：\ Program Files \ Python35 \ lib \ site-packages \ keras \ engine \ base_layer.py“，行 431，在致电中 self.build（unpack_singleton（input_shapes））
文件“ C：\ Program 文件\ Python35 \ lib \ site-packages \ keras \ layers \ merge.py”，第362行，在 建立 '输入了形状：％s'％（input_shape））
ValueError：
Concatenate层需要具有匹配形状的输入 除了concat轴。得到了输入形状：[（10，1），（None，512）]
请帮帮我。我只是一个初学者，不知道该如何解决：c