{"id":16438,"date":"2024-10-08T13:34:07","date_gmt":"2024-10-08T05:34:07","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16438"},"modified":"2024-10-08T14:31:37","modified_gmt":"2024-10-08T06:31:37","slug":"%e5%8d%8f%e5%90%8c%e9%a9%be%e9%a9%b6%e8%b6%85%e8%bf%9b%e5%8c%96%ef%bc%81codrivingllm%ef%bc%9a%e5%a4%a7%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e5%a6%82%e4%bd%95%e9%a9%b1%e5%8a%a8%e5%86%b3%e7%ad%96","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/08\/16438\/","title":{"rendered":"2024-10-08 \u534f\u540c\u9a7e\u9a76\u8d85\u8fdb\u5316\uff01CoDrivingLLM\uff1a\u5927\u8bed\u8a00\u6a21\u578b\u5982\u4f55\u9a71\u52a8\u51b3\u7b56\u6846\u67b6\uff1f"},"content":{"rendered":"\n<p>\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u4e0d\u65ad\u8fdb\u6b65\uff0c\u6211\u4eec\u53ef\u80fd\u6b63\u5728\u8fdb\u5165\u4e00\u4e2a\u8fde\u63a5\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff08Connected Autonomous Vehicles, \u7b80\u79f0CAVs\uff09\u548c\u4eba\u5de5\u9a7e\u9a76\u8f66\u8f86\uff08Human-Driven Vehicles, \u7b80\u79f0HDVs\uff09\u5171\u5b58\u7684\u65f6\u4ee3\u3002\u5c3d\u7ba1CAVs\u5728\u63d0\u9ad8\u4ea4\u901a\u5b89\u5168\u548c\u6548\u7387\u65b9\u9762\u5177\u6709\u5de8\u5927\u6f5c\u529b\uff0c\u4f46\u5b83\u4eec\u5728\u5f00\u653e\u9053\u8def\u4e0a\u7684\u8868\u73b0\u8fd8\u8fdc\u672a\u8fbe\u5230\u4ee4\u4eba\u6ee1\u610f\u7684\u7a0b\u5ea6\u3002\u6839\u636e\u52a0\u5229\u798f\u5c3c\u4e9a\u5dde\u673a\u52a8\u8f66\u7ba1\u7406\u5c40\u7684\u62a5\u544a\uff0c51%\u7684\u8f66\u8f86\u89e3\u7ed1\u662f\u7531\u4e8eCAVs\u7684\u51b3\u7b56\u5931\u8d25\u9020\u6210\u7684\u3002\u6b64\u5916\uff0c\u5317\u4eac\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u9053\u8def\u6d4b\u8bd5\u62a5\u544a\u63ed\u793a\uff0c\u9ad8\u8fbe91%\u7684\u89e3\u7ed1\u4e8b\u4ef6\u53d1\u751f\u5728\u4e0e\u5176\u4ed6\u8f66\u8f86\u4ea4\u4e92\u65f6\uff0c\u8fd9\u8868\u660e\u76ee\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u8fd8\u4e0d\u8db3\u4ee5\u5e94\u5bf9\u590d\u6742\u7684\u4ea4\u4e92\u573a\u666f\u3002\u4e3a\u4e86\u6539\u5584\u8fd9\u4e2a\u95ee\u9898\uff0c\u5229\u7528CAVs\u7684\u534f\u540c\u9a7e\u9a76\u80fd\u529b\u662f\u4e00\u4e2a\u8f83\u4e3a\u6709\u5e0c\u671b\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u9488\u5bf9\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u534f\u540c\u9a7e\u9a76\u95ee\u9898\uff0c\u76ee\u524d\u6d41\u884c\u7684\u65b9\u6cd5\u5927\u81f4\u53ef\u4ee5\u5206\u4e3a\u4ee5\u4e0b\u51e0\u79cd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5<\/strong>\u65e8\u5728\u6700\u5927\u5316\u6216\u6700\u5c0f\u5316\u76ee\u6807\u51fd\u6570\u4ee5\u5b9e\u73b0\u7279\u5b9a\u76ee\u6807\u3002\u4f46\u662f\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\u5f80\u5f80\u672a\u80fd\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u660e\u786e\u8003\u8651\u6cd5\u89c4\u548c\u793e\u4f1a\u89c4\u8303\uff0c\u4f7f\u5f97\u4ed6\u4eec\u7684\u51b3\u7b56\u7ed3\u679c\u96be\u4ee5\u7406\u89e3\u3002<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5<\/strong>\u5728\u5f62\u5f0f\u4e0a\u7b80\u5355\uff0c\u56e0\u6b64\u8ba1\u7b97\u6548\u7387\u9ad8\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u53ef\u4ee5\u5c06\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u4e0e\u4ea4\u901a\u6cd5\u89c4\u7ed3\u5408\u8d77\u6765\uff0c\u4f46\u9884\u8bbe\u7684\u89c4\u5219\u901a\u5e38\u4f1a\u5bfc\u81f4\u9c81\u68d2\u6027\u5dee\u3002<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u5b66\u4e60\u65b9\u6cd5<\/strong>\uff0c\u5982\u6df1\u5ea6\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5df2\u6210\u529f\u5e94\u7528\u4e8e\u4ea4\u53c9\u53e3\u3001\u5408\u5e76\u533a\u57df\u548c\u9ad8\u901f\u516c\u8def\u7b49\u73af\u5883\u4e2d\u7684\u534f\u540c\u9a7e\u9a76\uff0c\u8868\u73b0\u51fa\u826f\u597d\u7684\u6027\u80fd\u3002\u4f46\u57fa\u4e8e\u5b66\u4e60\u6a21\u578b\u7684\u6027\u80fd\u5728\u8f6c\u79fb\u5230\u672a\u7ecf\u8bad\u7ec3\u7684\u73af\u5883\u4e2d\u65f6\u5f80\u5f80\u4f1a\u663e\u8457\u4e0b\u964d\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u8fd1\u5e74\u6765Transformer\u6a21\u578b\u548c\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u5feb\u901f\u53d1\u5c55\u4e3a\u5b9e\u73b0\u534f\u540c\u51b3\u7b56\u63d0\u4f9b\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002\u8fd9\u4e9b\u6a21\u578b\u5df2\u7ecf\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u667a\u80fd\u4f53\u51b3\u7b56\u5236\u5b9a\u7b49\u9886\u57df\u5c55\u793a\u4e86\u5de8\u5927\u7684\u6f5c\u529b\u3002\u5728\u8fd9\u79cd\u80cc\u666f\u4e0b\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u4ea4\u4e92\u5f0f\u548c\u53ef\u5b66\u4e60\u7684LLM\u9a71\u52a8\u7684\u534f\u540c\u9a7e\u9a76\u6846\u67b6\uff0c\u7528\u4e8e\u5168\u573a\u666f\u548c\u5168Cooperative Driving Automation(\u7b80\u79f0CDA)\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2409.12812<\/li>\n\n\n\n<li>\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/FanGShiYuu\/CoDrivingLLM<\/li>\n<\/ul>\n\n\n\n<p><strong>\u95ee\u9898\u8868\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"264\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100801.png\" alt=\"\" class=\"wp-image-16441\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100801.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100801-300x119.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u89c2\u6d4b\u7a7a\u95f4 (Observation Space)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"204\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100802.png\" alt=\"\" class=\"wp-image-16439\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100802.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100802-300x91.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u4f5c\u7a7a\u95f4 (Action Space)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"143\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100803.png\" alt=\"\" class=\"wp-image-16440\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100803.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100803-300x64.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u6a21\u578b\u7ed3\u6784<\/strong><\/p>\n\n\n\n<p>CoDrivingLLM\u4e3b\u8981\u5305\u62ec\u4e09\u4e2a\u6a21\u5757\uff1a\u73af\u5883\u6a21\u5757\u3001\u63a8\u7406\u6a21\u5757\u548c\u8bb0\u5fc6\u6a21\u5757\u3002<\/p>\n\n\n\n<p><strong>A. \u603b\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>\u56fe2\u5c55\u793a\u4e86CoDrivingLLM\u4e2d\u7684\u4e3b\u8981\u6a21\u5757\u53ca\u5176\u903b\u8f91\u5173\u7cfb\uff0c\u5305\u62ec\u4e09\u4e2a\u4e3b\u8981\u6a21\u5757\uff1a\u73af\u5883\u6a21\u5757\u3001\u63a8\u7406\u6a21\u5757\u548c\u8bb0\u5fc6\u6a21\u5757\u3002<strong>\u73af\u5883\u6a21\u5757<\/strong>\u6839\u636e\u4e0a\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684CAV\u548cHDV\u7684\u52a8\u4f5c\u66f4\u65b0\u5f53\u524d\u573a\u666f\u4fe1\u606f\uff0c\u5305\u62ec\u6240\u6709\u8f66\u8f86\u7684\u72b6\u6001\uff0c\u5982\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\u3002\u63a5\u4e0b\u6765\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u96c6\u4e2d-\u5206\u5e03\u5f0f\u7ed3\u5408\u7684LLM<strong>\u63a8\u7406\u6a21\u5757<\/strong>\u3002\u57fa\u4e8eSAE J3216\u6807\u51c6\u5b9a\u4e49\u7684CDA\u7684\u56db\u4e2a\u7ea7\u522b\uff0c\u4f5c\u8005\u5c06\u8fd9\u4e2a\u63a8\u7406\u6a21\u5757\u6574\u5408\u4e86\u56db\u4e2a\u5b50\u529f\u80fd\uff1a\u72b6\u6001\u5171\u4eab\u3001\u610f\u56fe\u5171\u4eab\u3001\u534f\u5546\u548c\u51b3\u7b56\u3002\u901a\u8fc7\u7ed3\u5408\u601d\u7ef4\u94fe\uff08Chain-of-Thought, COT\uff09\u65b9\u6cd5\uff0c\u4f5c\u8005\u5c06\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u6bcf\u4e2a\u5b50\u529f\u80fd\u987a\u5e8f\u8fde\u63a5\u8d77\u6765\uff0c\u4ee5\u589e\u5f3a\u51b3\u7b56\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u6bcf\u4e2aCAV\u4f7f\u7528LLMs\u8fdb\u884c\u5206\u5e03\u5f0f\u7684\u9ad8\u7ea7\u903b\u8f91\u63a8\u7406\uff0c\u5b8c\u6210\u4e0d\u540c\u7ea7\u522b\u7684\u534f\u540c\u9a7e\u9a76\uff0c\u5e76\u5229\u7528\u6846\u67b6\u5185\u7684\u51b2\u7a81\u534f\u8c03\u5668\u8fdb\u884c\u96c6\u4e2d\u51b2\u7a81\u89e3\u51b3\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5b89\u5168\u6027\u3002\u6700\u540e\uff0c\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u573a\u666f\u63cf\u8ff0\u3001\u51b2\u7a81\u63cf\u8ff0\u548c\u6700\u7ec8\u51b3\u7b56\u4ee5\u5411\u91cf\u5316\u5f62\u5f0f\u5b58\u50a8\u5728<strong>\u8bb0\u5fc6\u6570\u636e\u5e93<\/strong>\u4e2d\u3002\u5728\u968f\u540e\u7684\u63a8\u7406\u4e2d\uff0cCAV\u53ef\u4ee5\u53c2\u8003\u6700\u76f8\u4f3c\u7684\u8fc7\u53bb\u8bb0\u5fc6\u4f5c\u4e3a\u7ecf\u9a8c\uff0c\u4f7f\u8bbe\u8ba1\u7684CAV\u80fd\u591f\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u4e0d\u65ad\u5b66\u4e60\u548c\u63d0\u9ad8\u5176\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"494\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1024x494.png\" alt=\"\" class=\"wp-image-16442\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1024x494.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-300x145.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-768x370.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>B. \u73af\u5883\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u73af\u5883\u6a21\u5757\u5305\u62ec\u4e24\u4e2a\u5b50\u6a21\u5757\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u73af\u5883\u52a8\u6001\u6a21\u62df\u5b50\u6a21\u5757\uff0c\u5b83\u6a21\u62df\u771f\u5b9e\u4e16\u754c\u7684\u73af\u5883\u52a8\u6001\uff0c\u4e3a\u534f\u540c\u9a7e\u9a76\u6846\u67b6\u63d0\u4f9b\u73b0\u5b9e\u7684\u80cc\u666f\u4ea4\u901a\u6d41\u548c\u8bad\u7ec3\u53cd\u9988\uff1b<\/li>\n\n\n\n<li>\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\u6267\u884c\u5b50\u6a21\u5757\uff0c\u4e3aLLM\u63d0\u4f9b\u57fa\u4e8e\u6a21\u578b\u7684\u8f66\u8f86\u63a7\u5236\u5355\u5143\uff0c\u63d0\u9ad8\u52a8\u4f5c\u6267\u884c\u7684\u51c6\u786e\u6027\u548c\u6210\u529f\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"733\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100804.png\" alt=\"\" class=\"wp-image-16443\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100804.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100804-273x300.png 273w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"568\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100805.png\" alt=\"\" class=\"wp-image-16444\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100805.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100805-300x258.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<p><strong>C. \u63a8\u7406\u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"630\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100806.png\" alt=\"\" class=\"wp-image-16445\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100806.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100806-300x284.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"845\" height=\"604\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1.png\" alt=\"\" class=\"wp-image-16446\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1.png 845w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1-300x214.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-1-768x549.png 768w\" sizes=\"(max-width: 845px) 100vw, 845px\" \/><\/figure>\n\n\n\n<p>\u51b2\u7a81\u534f\u8c03\u5668\u6839\u636e\u51b2\u7a81\u7684\u4e25\u91cd\u7a0b\u5ea6\u786e\u5b9a\u6bcf\u5bf9\u51b2\u7a81\u8f66\u8f86\u7684\u901a\u884c\u987a\u5e8f\u3002\u5728\u6b64\u8fc7\u7a0b\u4e2d\uff0c\u4ea4\u901a\u89c4\u5219\u548c\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u7684\u793e\u4ea4\u89c4\u8303\u540c\u65f6\u88ab\u51b2\u7a81\u534f\u8c03\u5668\u8003\u8651\u3002\u4f8b\u5982\uff0c\u5982\u56fe1\u6240\u793a\uff0c\u6839\u636e\u4ea4\u901a\u89c4\u5219\uff0c\u8f6c\u5f2f\u8f66\u8f86\u5e94\u8be5\u8ba9\u76f4\u884c\u8f66\u8f86\u5148\u884c\u3002\u56e0\u6b64\uff0c\u5728\u534f\u5546\u540e\uff0c\u51b2\u7a81\u534f\u8c03\u5668\u786e\u5b9aCAV2\u5e94\u8be5\u5728\u8fd9\u7ec4\u51b2\u7a81\u4e2d\u8ba9\u884c\u3002\u534f\u5546\u7ed3\u679c\u548c\u539f\u56e0\u88ab\u53d1\u9001\u5230\u51b3\u7b56\u529f\u80fd\u4ee5\u505a\u51fa\u6700\u7ec8\u51b3\u7b56\u3002\u7136\u800c\uff0c\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u534f\u5546\u7ed3\u679c\u662f\u5efa\u8bae\u6027\u7684\uff0c\u6700\u7ec8\u51b3\u7b56\u8fd8\u53d6\u51b3\u4e8e\u81ea\u6211\u8f66\u8f86\u5468\u56f4\u73af\u5883\u7684\u5176\u4ed6\u56e0\u7d20\u3002<\/p>\n\n\n\n<p><strong>D. \u8bb0\u5fc6\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u65e5\u5e38\u751f\u6d3b\u4e2d\uff0c\u65b0\u53f8\u673a\u901a\u8fc7\u6301\u7eed\u7684\u9a7e\u9a76\u5b9e\u8df5\u79ef\u7d2f\u7ecf\u9a8c\uff0c\u8bc4\u4f30\u4e0d\u540c\u884c\u4e3a\u7684\u6548\u679c\uff0c\u5e76\u4ece\u4e2d\u5b66\u4e60\u4ee5\u63d0\u9ad8\u9a7e\u9a76\u6280\u80fd\u3002\u501f\u9274\u8fd9\u4e00\u673a\u5236\uff0c\u4f5c\u8005\u5f15\u5165\u8bb0\u5fc6\u6a21\u5757\uff0c\u4f7fCAV\u80fd\u591f\u4ece\u8fc7\u53bb\u7684\u7ecf\u5386\u4e2d\u5b66\u4e60\uff0c\u5e76\u5229\u7528\u8fd9\u4e9b\u77e5\u8bc6\u8fdb\u884c\u672a\u6765\u7684\u4e92\u52a8\u3002\u8fd9\u4e00\u8fc7\u7a0b\u4e5f\u88ab\u79f0\u4e3a\u68c0\u7d22\u589e\u5f3a\u751f\u6210\uff08RAG\uff09\u3002RAG\u8d4b\u4e88LLMs\u8bbf\u95ee\u7279\u5b9a\u9886\u57df\u6216\u7ec4\u7ec7\u5185\u7684\u77e5\u8bc6\u6570\u636e\u5e93\u7684\u80fd\u529b\u3002\u8fd9\u79cd\u80fd\u529b\u5141\u8bb8\u5728\u4e0d\u9700\u8981\u6a21\u578b\u91cd\u65b0\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\uff0c\u7ecf\u6d4e\u9ad8\u6548\u5730\u6539\u8fdbLLM\u8f93\u51fa\uff0c\u786e\u4fdd\u5728\u89e3\u51b3\u7279\u5b9a\u9886\u57df\u95ee\u9898\u65f6\u7684\u76f8\u5173\u6027\u3001\u51c6\u786e\u6027\u548c\u5b9e\u7528\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u8bbe\u8ba1\u7684\u8bb0\u5fc6\u6a21\u5757\u5305\u542b\u4e24\u4e2a\u4e3b\u8981\u529f\u80fd\uff1a\u8bb0\u5fc6\u589e\u5f3a\u548c\u8bb0\u5fc6\u68c0\u7d22\u3002<\/p>\n\n\n\n<p><strong>\u8bb0\u5fc6\u589e\u5f3a<\/strong>\uff1a\u8bb0\u5fc6\u589e\u5f3a\u529f\u80fd\u8bc4\u4f30CAV\u5728\u524d\u4e00\u4e2a\u573a\u666f\u4e2d\u7684\u884c\u4e3a\u5f71\u54cd\uff0c\u4ee5\u786e\u5b9a\u8fd9\u4e9b\u884c\u4e3a\u662f\u5426\u52a0\u5267\u4e86\u51b2\u7a81\u3002\u5982\u679cCAV\u7684\u884c\u4e3a\u5bfc\u81f4\u5371\u9669\u589e\u52a0\uff0c\u7cfb\u7edf\u4f1a\u4ea7\u751f\u8d1f\u9762\u53cd\u9988\uff0c\u4f8b\u5982\uff1a\u201c\u4f60\u7684\u884c\u4e3a\u52a0\u5267\u4e86\u51b2\u7a81\uff1b\u5e94\u907f\u514d\u91c7\u53d6\u7c7b\u4f3c\u884c\u52a8\u3002\u201d\u8fd9\u79cd\u53cd\u9988\u673a\u5236\u5728\u573a\u666f\u3001\u884c\u4e3a\u548c\u7ed3\u679c\u4e4b\u95f4\u5efa\u7acb\u4e86\u8054\u7cfb\uff0c\u5c06\u8fd9\u4e9b\u6620\u5c04\u5b58\u50a8\u5728\u8bb0\u5fc6\u6570\u636e\u5e93\u4e2d\u4ee5\u4f9b\u5c06\u6765\u53c2\u8003\u3002\u5728\u6bcf\u6b21\u8c03\u7528LLM\u8fdb\u884c\u63a8\u7406\u4e4b\u524d\uff0c\u4ece\u8bb0\u5fc6\u6570\u636e\u5e93\u4e2d\u68c0\u7d22\u4e0e\u5f53\u524d\u573a\u666f\u6700\u76f8\u5173\u7684\u8bb0\u5fc6\u4ee5\u589e\u5f3a\u63d0\u793a\uff0c\u4ece\u800c\u907f\u514d\u91cd\u590d\u8fc7\u53bb\u7684\u9519\u8bef\u3002<\/p>\n\n\n\n<p><strong>\u8bb0\u5fc6\u68c0\u7d22<\/strong>\uff1a\u968f\u7740\u4e92\u52a8\u6570\u91cf\u7684\u589e\u52a0\uff0c\u8bb0\u5fc6\u6570\u636e\u5e93\u5c06\u7d2f\u79ef\u4f17\u591a\u8fc7\u53bb\u7684\u7ecf\u5386\u3002\u5c06\u6240\u6709\u8bb0\u5fc6\u4f5c\u4e3a\u63d0\u793a\u8f93\u5165\u4f1a\u5bfc\u81f4\u5197\u4f59\uff0c\u4f7f\u5f97CAV\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u96be\u4ee5\u63d0\u53d6\u5173\u952e\u4fe1\u606f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u91c7\u7528\u8bb0\u5fc6\u68c0\u7d22\u529f\u80fd\uff0c\u5728\u5229\u7528\u8bb0\u5fc6\u6307\u5bfc\u63a8\u7406\u4e4b\u524d\uff0c\u4ece\u6570\u636e\u5e93\u4e2d\u63d0\u53d6\u4e0e\u5f53\u524d\u573a\u666f\u6700\u76f8\u5173\u7684\u8bb0\u5fc6\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5f53\u524d\u573a\u666f\u63cf\u8ff0\u548c\u51b2\u7a81\u63cf\u8ff0\u88ab\u8f6c\u6362\u4e3a\u5411\u91cf\u5f62\u5f0f\uff0c\u5e76\u4f7f\u7528\u4f59\u5f26\u76f8\u4f3c\u5ea6\u6839\u636e\u5b83\u4eec\u4e0e\u5f53\u524d\u573a\u666f\u7684\u76f8\u5173\u6027\u5bf9\u5e93\u4e2d\u7684\u8bb0\u5fc6\u8fdb\u884c\u6392\u540d\u3002\u6392\u540d\u9760\u524d\u7684\u8bb0\u5fc6\u968f\u540e\u88ab\u9009\u4e3aCAV\u63a8\u7406\u7684\u63d0\u793a\u7684\u4e00\u90e8\u5206\u3002\u8fd9\u4e9b\u7c7b\u4f3c\u7684\u8bb0\u5fc6\uff0c\u88ab\u79f0\u4e3a\u5c11\u91cf\u4f53\u9a8c\uff0c\u88ab\u6ce8\u5165\u5230CAV\u7684\u63a8\u7406\u6a21\u5757\u4e2d\uff0c\u4f7fCAV\u80fd\u591f\u4ece\u8fc7\u53bb\u7684\u9519\u8bef\u4e2d\u5b66\u4e60\u3002\u8bb0\u5fc6\u6a21\u5757\u7684\u5f15\u5165\u4e0d\u4ec5\u63d0\u9ad8\u4e86CAV\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u51b3\u7b56\u80fd\u529b\uff0c\u800c\u4e14\u8d4b\u4e88\u4e86\u7c7b\u4f3c\u4eba\u7c7b\u7684\u6301\u7eed\u5b66\u4e60\u80fd\u529b\u3002\u901a\u8fc7\u4e0d\u65ad\u4ece\u8fc7\u53bb\u7684\u7ecf\u5386\u4e2d\u5b66\u4e60\uff0cCAV\u80fd\u591f\u66f4\u597d\u5730\u9002\u5e94\u52a8\u6001\u73af\u5883\uff0c\u63d0\u9ad8\u9a7e\u9a76\u5b89\u5168\u6027\uff0c\u51cf\u5c11\u4ea4\u901a\u4e8b\u6545\uff0c\u63d0\u9ad8\u5176\u5728\u73b0\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u7684\u53ef\u9760\u6027\u548c\u5b9e\u7528\u6027\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u4eff\u771f\u73af\u5883<\/strong>\u4f5c\u8005\u57fa\u4e8ehighway-env\u5f00\u53d1\u4e86\u73af\u5883\u6a21\u5757\u3002\u8bbe\u8ba1\u4e86\u4e09\u79cd\u573a\u666f\u6765\u8fdb\u884c\u5b9e\u9a8c\uff0c\u5982\u56fe4\u6240\u793a\uff0c\u5305\u62ec\u56db\u8f66\u9053\u9ad8\u901f\u516c\u8def\u573a\u666f\u3001\u5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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"888\" height=\"508\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-2.png\" alt=\"\" class=\"wp-image-16447\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-2.png 888w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-2-300x172.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-2-768x439.png 768w\" sizes=\"(max-width: 888px) 100vw, 888px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ec6\u8282<\/strong>\u4f5c\u8005\u4f7f\u7528GPT-4o mini\u4f5c\u4e3a\u57fa\u7840LLM\u6a21\u578b\uff0c\u8fdb\u884c\u9ad8\u5c42\u6b21\u7684\u903b\u8f91\u601d\u8003\u548c\u5224\u65ad\u3002\u6bcf\u4e2a\u6a21\u62df\u73af\u5883\u4e2d\u63a7\u5236\u56db\u4e2aCAV\u3002\u6b64\u5916\uff0c\u6240\u6709\u4e0d\u540c\u8bbe\u7f6e\u7684\u573a\u666f\u90fd\u91cd\u590d20\u6b21\uff0c\u4f7f\u7528\u4e0d\u540c\u7684\u968f\u673a\u79cd\u5b50\u4ee5\u83b7\u5f97\u6700\u7ec8\u7ed3\u679c\u3002\u6210\u529f\u7387\u88ab\u7528\u4f5c\u8bc4\u4f30\u6240\u6709\u65b9\u6cd5\u6027\u80fd\u7684\u6307\u6807\u3002\u5728\u4e00\u4e2a\u6848\u4f8b\u4e2d\uff0c\u5982\u679c\u6240\u6709CAV\u90fd\u80fd\u5b89\u5168\u5730\u5b8c\u6210\u9a7e\u9a76\u4efb\u52a1\u5e76\u5230\u8fbe\u76ee\u7684\u5730\uff0c\u5219\u8be5\u6848\u4f8b\u6210\u529f\u3002\u6210\u529f\u7387\u8868\u793a\u6210\u529f\u6848\u4f8b\u6570\u4e0e\u603b\u6848\u4f8b\u6570\u7684\u6bd4\u7387\u3002<\/p>\n\n\n\n<p><strong>\u534f\u5546\u6a21\u5757\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7\u5171\u4eab\u72b6\u6001\u548c\u610f\u56fe\uff0c\u5408\u4f5c\u9a7e\u9a76\u53ef\u4ee5\u63d0\u4f9b\u989d\u5916\u7684\u4fe1\u606f\uff0c\u5e2e\u52a9\u51b2\u7a81\u65b9\u534f\u8c03\u4ed6\u4eec\u7684\u51b3\u7b56\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u4f5c\u8005\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u5f15\u5165\u4e86\u4e00\u4e2a\u534f\u5546\u6a21\u5757\u3002\u901a\u8fc7\u5efa\u7acb\u4e00\u4e2aLLM\u9a71\u52a8\u7684\u51b2\u7a81\u534f\u8c03\u5668\uff0c\u5c06\u4ea4\u901a\u89c4\u5219\u548c\u573a\u666f\u63cf\u8ff0\u6574\u5408\u5728\u4e00\u8d77\uff0c\u4ee5\u4ea7\u751f\u5efa\u8bae\u7684\u4ea4\u901a\u987a\u5e8f\u6765\u534f\u52a9\u6700\u7ec8\u51b3\u7b56\uff0c\u4ece\u800c\u63d0\u9ad8\u4ea4\u4e92\u80fd\u529b\u3002\u4e3a\u4e86\u9a8c\u8bc1\u51b2\u7a81\u534f\u8c03\u5668\u5728\u63d0\u9ad8\u4ea4\u4e92\u80fd\u529b\u65b9\u9762\u7684\u6709\u6548\u6027\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u6bd4\u8f83\u4e86CoDrivingLLM\u5728\u5404\u79cd\u573a\u666f\u4e0b\u6709\u65e0\u534f\u5546\u6a21\u5757\u7684\u6210\u529f\u7387\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u9009\u53d6\u4e86\u4e00\u4e2a\u6848\u4f8b\u6765\u5206\u6790\u534f\u5546\u529f\u80fd\u5982\u4f55\u63d0\u9ad8\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"723\" height=\"521\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-3.png\" alt=\"\" class=\"wp-image-16449\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-3.png 723w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-3-300x216.png 300w\" sizes=\"(max-width: 723px) 100vw, 723px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe5\u6240\u793a\uff0c\u5728\u9ad8\u901f\u516c\u8def\u573a\u666f\u4e2d\uff0c\u6709\u65e0\u534f\u5546\u6a21\u5757\u5e76\u4e0d\u5f71\u54cd\u5408\u4f5c\u9a7e\u9a76\u7684\u6027\u80fd\uff0c\u56e0\u4e3a\u4f5c\u8005\u7684\u65b9\u6cd5\u59cb\u7ec8\u5b9e\u73b0\u4e86100%\u7684\u6210\u529f\u7387\u3002\u4f5c\u8005\u5c06\u5176\u5f52\u56e0\u4e8e\u9ad8\u901f\u516c\u8def\u573a\u666f\u4e2d\u7f3a\u4e4f\u91cd\u5927\u7684\u4ea4\u4e92\u51b2\u7a81\uff0c\u534f\u5546\u6a21\u5757\u6ca1\u6709\u673a\u4f1a\u6709\u6548\u5e72\u9884\u3002\u7136\u800c\uff0c\u5728\u5408\u5e76\u548c\u4ea4\u53c9\u53e3\u573a\u666f\u4e2d\uff0c\u534f\u5546\u6a21\u5757\u663e\u8457\u63d0\u9ad8\u4e86\u51b3\u7b56\u7684\u6210\u529f\u7387\u3002\u5728\u8fd9\u4e24\u79cd\u7c7b\u578b\u7684\u573a\u666f\u4e2d\uff0c\u8f66\u8f86\u4e4b\u95f4\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u51fa\u73b0\u51b2\u7a81\uff0c\u53ea\u6709\u4ed6\u4eec\u7684\u51b3\u7b56\u4e00\u81f4\uff0c\u624d\u80fd\u907f\u514d\u78b0\u649e\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u5408\u5e76\u573a\u666f\u4e2d\uff0cCAV\u51b3\u7b56\u7684\u6210\u529f\u7387\u4ece33%\u63d0\u9ad8\u523075%\uff0c\u5728\u4ea4\u53c9\u53e3\u573a\u666f\u4e2d\uff0c\u6210\u529f\u7387\u4ece15%\u4e0a\u5347\u523078%\u3002\u534f\u5546\u6a21\u5757\u5728\u4ea4\u53c9\u53e3\u573a\u666f\u4e2d\u5f71\u54cd\u6700\u5927\uff0c\u56e0\u4e3a\u4ea4\u4e92\u7684\u590d\u6742\u6027\u548c\u4ea4\u901a\u51b2\u7a81\u7684\u5bc6\u5ea6\u8fdc\u9ad8\u4e8e\u5176\u4ed6\u4e24\u79cd\u573a\u666f\u3002\u8fd9\u8868\u660e\u4f5c\u8005\u7684\u534f\u5546\u6a21\u5757\u6709\u6548\u5730\u5904\u7406\u4e86\u590d\u6742\u7684\u4ea4\u901a\u51b2\u7a81\u548c\u4ea4\u4e92\u573a\u666f\uff0c\u662f\u6574\u4f53\u5408\u4f5c\u9a7e\u9a76\u6846\u67b6\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\u3002<\/p>\n\n\n\n<p><strong>\u8bb0\u5fc6\u6a21\u5757\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u8bb0\u5fc6\u6a21\u5757\u65e8\u5728\u4f7fCAV\u80fd\u591f\u4ece\u8fc7\u53bb\u7684\u7ecf\u9a8c\u4e2d\u5b66\u4e60\uff0c\u907f\u514d\u91cd\u590d\u8fc7\u53bb\u7684\u9519\u8bef\u3002\u4f5c\u8005\u4e5f\u505a\u4e86\u8bb0\u5fc6\u6a21\u5757\u7684\u6d88\u878d\u5b9e\u9a8c\u3002\u4ed6\u4eec\u6bd4\u8f83\u4e86\u57280\u6b21\u30012\u6b21\u548c5\u6b21\u7ecf\u9a8c\uff08shots\uff09\u4e0b\uff0cCoDrivingLLM\u5728\u4e0d\u540c\u573a\u666f\u4e2d\u7684\u6027\u80fd\u3002\u8fd9\u91cc\u7684&#8221;shots&#8221;\u6307\u7684\u662f\u5728\u63a8\u7406\u524d\u5411\u6a21\u578b\u6ce8\u5165\u6700\u76f8\u4f3c\u8fc7\u53bb\u7ecf\u9a8c\u7684\u6b21\u6570\u3002\u5728\u9ad8\u901f\u516c\u8def\u573a\u666f\u4e2d\uff0c\u7531\u4e8e\u8f66\u8f86\u51b2\u7a81\u548c\u4ea4\u4e92\u6311\u6218\u8f83\u5c11\uff0c\u5373\u4f7f\u4e0d\u4f7f\u7528\u8bb0\u5fc6\u6a21\u5757\uff0cCoDrivingLLM\u4e5f\u80fd\u8fbe\u5230100%\u7684\u6210\u529f\u7387\uff0c\u4e142\u6b21\u548c5\u6b21\u7ecf\u9a8c\u7684\u6dfb\u52a0\u5bf9\u6210\u529f\u7387\u6ca1\u6709\u5f71\u54cd\u3002\u5728\u5408\u5e76\u548c\u4ea4\u53c9\u53e3\u573a\u666f\u4e2d\uff0c\u4ece0\u6b21\u7ecf\u9a8c\u589e\u52a0\u52302\u6b21\u7ecf\u9a8c\u65f6\uff0c\u51b3\u7b56\u6210\u529f\u7387\u663e\u8457\u63d0\u9ad8\uff0c\u5408\u5e76\u573a\u666f\u4ece78%\u589e\u81f390%\uff0c\u4ea4\u53c9\u53e3\u573a\u666f\u4ece75%\u589e\u81f385%\u3002\u7136\u800c\uff0c\u5f53\u7ecf\u9a8c\u4ece2\u6b21\u589e\u52a0\u52305\u6b21\u65f6\uff0c\u6027\u80fd\u7565\u6709\u4e0b\u964d\u3002\u8fd9\u8868\u660e\u8fc7\u591a\u7684\u8bb0\u5fc6\u53ef\u80fd\u5e76\u4e0d\u603b\u662f\u589e\u5f3aLLM\u7684\u51b3\u7b56\u80fd\u529b\uff0c\u8fc7\u91cf\u7684\u91cd\u590d\u6216\u4f4e\u4ef7\u503c\u8bb0\u5fc6\u53ef\u80fd\u4f1a\u5360\u7528LLM\u7684\u4e0a\u4e0b\u6587\u7a97\u53e3\uff0c\u964d\u4f4e\u5176\u5173\u6ce8\u5176\u4ed6\u76f8\u5173\u611f\u77e5\u4fe1\u606f\u7684\u80fd\u529b\uff0c\u4ece\u800c\u53ef\u80fd\u4ea7\u751f\u8d1f\u9762\u5f71\u54cd\u3002\u6240\u4ee5\u4f5c\u8005\u8ba4\u4e3a\uff0c\u8bb0\u5fc6\u6a21\u5757\u4e3aCoDrivingLLM\u63d0\u4f9b\u4e86\u5b66\u4e60\u6548\u7528\uff0c\u901a\u8fc7\u6301\u7eed\u4ece\u7ecf\u9a8c\u4e2d\u5b66\u4e60\uff0cCAV\u80fd\u66f4\u597d\u5730\u9002\u5e94\u52a8\u6001\u73af\u5883\uff0c\u63d0\u9ad8\u9a7e\u9a76\u5b89\u5168\u6027\uff0c\u51cf\u5c11\u4ea4\u901a\u4e8b\u6545\uff0c\u589e\u52a0\u73b0\u5b9e\u5e94\u7528\u7684\u53ef\u9760\u6027\u548c\u5b9e\u7528\u6027\u3002<\/p>\n\n\n\n<p><strong>\u4e0e\u5176\u4ed6\u65b9\u6cd5\u7684\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u9009\u62e9\u5728\u65e0\u4fe1\u53f7\u4ea4\u53c9\u53e3\u573a\u666f\u4e0b\u505a\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u5bf9\u6bd4\u5305\u62ec\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5(iDFST)\u3001\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5(Cooperative game)\u548c\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5(MADQN)\u3002<\/p>\n\n\n\n<p><strong>\u6574\u4f53\u6027\u80fd<\/strong>\u4f5c\u8005\u603b\u7ed3\u4e86\u6bcf\u79cd\u65b9\u6cd5\u7684\u6210\u529f\u7387\u3002\u6839\u636e\u8868I\u4e2d\u7684\u6570\u636e\uff0cCoDrivingLLM\u7684\u8868\u73b0\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8fbe\u5230\u4e8690%\u7684\u6210\u529f\u7387\u3002iDFST\u548cCooperative Game\u65b9\u6cd5\u7565\u900a\u4e00\u7b79\uff0c\u90fd\u8fbe\u5230\u4e8685%\u7684\u6210\u529f\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"925\" height=\"249\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-4.png\" alt=\"\" class=\"wp-image-16450\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-4.png 925w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-4-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-4-768x207.png 768w\" sizes=\"(max-width: 925px) 100vw, 925px\" \/><\/figure>\n\n\n\n<p><strong>\u5b89\u5168\u8bc4\u4f30<\/strong>\u4f5c\u8005\u5bf9\u5404\u79cd\u65b9\u6cd5\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5b89\u5168\u6027\u5206\u6790\uff0c\u4f7f\u7528\u4e86\u4ea4\u901a\u5de5\u7a0b\u4e2d\u516c\u8ba4\u7684\u5b89\u5168\u6027\u53c2\u6570PostEncroachment Time (PET)\u3002\u8fd9\u4e00\u6307\u6807\u6709\u6548\u5730\u91cf\u5316\u4e86\u8f66\u8f86\u5728\u590d\u6742\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u5b89\u5168\u6027\u548c\u4ea4\u4e92\u5f3a\u5ea6\u3002\u6839\u636e\u56fe9\u548c\u8868I\u4e2d\u7684\u7ed3\u679c\uff0ciDFST\u65b9\u6cd5\u548cCoDrivingLLM\u8868\u73b0\u90fd\u5f88\u51fa\u8272\uff0c\u5e73\u5747PET\u503c\u5206\u522b\u4e3a15.1\u79d2\u548c10.3\u79d2\u3002\u76f8\u53cd\uff0cMADQN\u548cCooperative\u65b9\u6cd5\u7684PET\u503c\u5206\u522b\u4e3a5.7\u79d2\u548c3.7\u79d2\uff0c\u8868\u660e\u5728\u4ea4\u901a\u73af\u5883\u4e2d\u7684\u51b3\u7b56\u4ea4\u4e92\u4e2d\u5b58\u5728\u66f4\u9ad8\u7684\u98ce\u9669\u3002\u6b64\u5916\uff0cPET\u503c\u8f83\u4f4e\u610f\u5473\u7740\u5b58\u5728\u66f4\u9ad8\u7684\u5b89\u5168\u98ce\u9669\u3002\u901a\u5e38\uff0cPET\u503c\u5c0f\u4e8e1.5\u79d2\u8868\u793a\u5e94\u907f\u514d\u7684\u4e25\u91cd\u51b2\u7a81\u3002\u6839\u636e\u56fe9\uff0c\u6240\u63d0\u51fa\u7684CoDrivingLLM\u7684PET\u5206\u5e03\u4e3b\u8981\u96c6\u4e2d\u57281.5\u79d2\u4ee5\u4e0a\u3002\u5c3d\u7ba1MADQN\u7684PET\u5206\u5e03\u4e5f\u6ca1\u6709\u4f4e\u4e8e1.5\u79d2\u7684\u503c\uff0c\u4f46\u8003\u8651\u5230\u5176\u6210\u529f\u7387\u4ec5\u4e3a20%\uff0c\u5b58\u5728\u5927\u91cf\u7684\u78b0\u649e\u3002\u56e0\u6b64\uff0cCoDrivingLLM\u5728\u5b89\u5168\u6027\u65b9\u9762\u8868\u73b0\u6700\u4f73\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"723\" height=\"439\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-5.png\" alt=\"\" class=\"wp-image-16451\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-5.png 723w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-5-300x182.png 300w\" sizes=\"(max-width: 723px) 100vw, 723px\" \/><\/figure>\n\n\n\n<p><strong>\u6548\u7387\u8bc4\u4f30<\/strong>\u4f5c\u8005\u8fd8\u4f7f\u7528\u65c5\u884c\u901f\u5ea6\u8bc4\u4f30\u4e86\u6240\u6709\u65b9\u6cd5\u7684\u6548\u7387\u3002\u5982\u8868I\u6240\u793a\uff0cMADQN\u5728\u6d4b\u8bd5\u671f\u95f4\u8fbe\u5230\u4e86\u6700\u9ad8\u7684\u5e73\u5747\u901f\u5ea66.1 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