{"id":19844,"date":"2024-11-25T16:58:41","date_gmt":"2024-11-25T08:58:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=19844"},"modified":"2024-11-25T16:58:41","modified_gmt":"2024-11-25T08:58:41","slug":"2024-11-25%e6%b8%85%e5%8d%8e%e5%a4%a7%e5%ad%a6%e5%8f%91%e5%b8%83%e4%bd%bf%e7%94%a8carla%e7%94%9f%e6%88%90v2v%e4%b8%8ev2i%e7%9a%84%e5%a2%9e%e5%bc%ba%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%8d%8f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/25\/19844\/","title":{"rendered":"2024-11-25\u6e05\u534e\u5927\u5b66\u53d1\u5e03\u4f7f\u7528CARLA\u751f\u6210V2V\u4e0eV2I\u7684\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u534f\u4f5c\u7684\u591a\u667a\u80fd\u4f53\u8c03\u5ea6\u6570\u636e\u96c6WHALES"},"content":{"rendered":"\n<p>Abstract<\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5b9e\u73b0\u9ad8\u6c34\u5e73\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u4ecd\u7136\u662f\u4e00\u4e2a\u5173\u952e\u6311\u6218\uff0c\u7279\u522b\u662f\u7531\u4e8e\u72ec\u7acb\u7cfb\u7edf\u4e2d\u7684\u906e\u6321\u548c\u6709\u9650\u7684\u611f\u77e5\u8303\u56f4\u3002\u8f66\u8f86\u95f4\u7684\u534f\u540c\u611f\u77e5\u63d0\u4f9b\u4e86\u4e00\u79cd\u6709\u524d\u666f\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4f46\u73b0\u6709\u7814\u7a76\u53d7\u9650\u4e8e\u4ec5\u6709\u5c11\u91cf\u4ee3\u7406\u7684\u6570\u636e\u96c6\u3002\u6269\u5927\u534f\u540c\u4ee3\u7406\u7684\u6570\u91cf\u5e76\u975e\u6613\u4e8b\uff0c\u5e76\u5f15\u5165\u4e86\u73b0\u6709\u5de5\u4f5c\u5c1a\u672a\u89e3\u51b3\u7684\u663e\u8457\u8ba1\u7b97\u548c\u6280\u672f\u969c\u788d\u3002\u4e3a\u5f25\u8865\u8fd9\u4e00\u5dee\u8ddd\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u65e0\u7ebf\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u591a\u4ee3\u7406\u8c03\u5ea6\u6570\u636e\u96c6\uff08WHALES\uff09\uff0c\u8be5\u6570\u636e\u96c6\u4f7f\u7528CARLA\u6a21\u62df\u5668\u751f\u6210\uff0c\u6bcf\u4e2a\u9a7e\u9a76\u5e8f\u5217\u7684\u4ee3\u7406\u5e73\u5747\u6570\u91cf\u8fbe\u5230\u4e86\u524d\u6240\u672a\u6709\u76848.4\u4e2a\u3002\u9664\u4e86\u5728\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e2d\u63d0\u4f9b\u6700\u591a\u7684\u4ee3\u7406\u548c\u89c6\u89d2\u5916\uff0cWHALES\u8fd8\u8bb0\u5f55\u4e86\u4ee3\u7406\u7684\u884c\u4e3a\uff0c\u652f\u6301\u591a\u4efb\u52a1\u534f\u4f5c\u3002\u8fd9\u4e00\u6269\u5c55\u5141\u8bb8\u534f\u540c\u611f\u77e5\u4e2d\u7684\u65b0\u8f85\u52a9\u4efb\u52a1\u7684\u5b9e\u73b0\u3002\u4f5c\u4e3a\u793a\u4f8b\uff0c\u6211\u4eec\u5728\u4ee3\u7406\u8c03\u5ea6\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5176\u4e2d\u81ea\u8f66\u4ee3\u7406\u4ece\u591a\u4e2a\u5019\u9009\u4ee3\u7406\u4e2d\u9009\u62e9\u4e00\u4e2a\u8fdb\u884c\u534f\u4f5c\uff0c\u4ee5\u4f18\u5316\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u611f\u77e5\u589e\u76ca\u3002<\/p>\n\n\n\n<p>\u4ee3\u7801\u83b7\u53d6\uff1ahttps:\/\/github.com\/chensiweiTHU\/WHALES<\/p>\n\n\n\n<p>Introduction<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u6280\u672f\u627f\u8bfa\u80fd\u591f\u9884\u9632\u4ea4\u901a\u4e8b\u6545\u3001\u63d0\u9ad8\u6b8b\u75be\u4eba\u7fa4\u7684\u6d41\u52a8\u6027\uff0c\u5e76\u6539\u5584\u6574\u4f53\u4ea4\u901a\u5b89\u5168\u548c\u6548\u7387\u3002\u8fd1\u5e74\u6765\uff0c\u6df1\u5ea6\u5b66\u4e60\u7684\u8fdb\u6b65\u5728\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u5404\u79cd\u611f\u77e5\u4efb\u52a1\u4e0a\u5e26\u6765\u4e86\u663e\u8457\u7684\u7a81\u7834\uff0c\u59823D\u7269\u4f53\u68c0\u6d4b\u30014D\u5360\u7528\u9884\u6d4b\u3001\u591a\u76ee\u6807\u8ddf\u8e2a\u4ee5\u53ca\u7aef\u5230\u7aef\u89c4\u5212\u3002\u4e3a\u4e86\u5728\u590d\u6742\u7684\u5468\u56f4\u73af\u5883\u4e2d\u5bfc\u822a\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5229\u7528\u4e0d\u540c\u7684\u4f20\u611f\u5668\u9635\u5217\uff0c\u4f8b\u5982\u6444\u50cf\u5934\u3001LiDAR\u3001\u96f7\u8fbe\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\uff0c\u6765\u611f\u77e5\u5176\u5468\u56f4\u73af\u5883\u5e76\u5bf9\u81ea\u8f66\u884c\u4e3a\u505a\u51fa\u91cd\u8981\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u72ec\u7acb\u6216\u5355\u8f66\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u611f\u77e5\u65b9\u9762\u9762\u4e34\u4e00\u4e2a\u5173\u952e\u7684\u5c40\u9650\u6027\uff1a\u65e0\u6cd5\u4ece\u975e\u89c6\u8ddd\uff08NLOS\uff09\u533a\u57df\u68c0\u6d4b\u4fe1\u606f\uff0c\u5bfc\u81f4\u4e25\u91cd\u7684\u906e\u6321\u95ee\u9898\uff0c\u8fd9\u5bf9\u5b89\u5168\u6784\u6210\u6f5c\u5728\u98ce\u9669\u3002\u4e3a\u514b\u670d\u8fd9\u4e00\u95ee\u9898\uff0c\u7814\u7a76\u4eba\u5458\u901a\u8fc7\u65e0\u7ebf\u901a\u4fe1\u5f15\u5165\u4e86\u534f\u540c\u9a7e\u9a76\u6280\u672f\uff0c\u8fd9\u5728\u590d\u6742\u548c\u5177\u6709\u6311\u6218\u6027\u7684\u9053\u8def\u573a\u666f\u4e2d\u7279\u522b\u63d0\u9ad8\u4e86\u5b89\u5168\u6027\u30023GPP\u5728\u7b2c17\u7248\u548c\u7b2c18\u7248\u4e2d\u6982\u8ff0\u7684NR-V2X\u6280\u672f[5]\u652f\u6301\u534f\u540c\u9a7e\u9a76\u4e2d\u7684\u539f\u59cb\u3001\u7279\u5f81\u548c\u5bf9\u8c61\u7ea7\u878d\u5408\uff0c\u4ece\u800c\u5728\u7ec4\u64ad\uff08groupcast\uff09\u4e0b\u5b9e\u73b0\u5408\u4f5c\u3002\u82e5\u5e72\u7814\u7a76\u96c6\u4e2d\u4e8e\u901a\u8fc7\u89e3\u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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"742\" height=\"648\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-645.png\" alt=\"\" class=\"wp-image-19845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-645.png 742w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-645-300x262.png 300w\" sizes=\"(max-width: 742px) 100vw, 742px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u63a8\u52a8\u534f\u540c\u81ea\u52a8\u9a7e\u9a76\u7684\u521b\u65b0\u7814\u7a76\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u591a\u4ee3\u7406\u8c03\u5ea6\u6570\u636e\u96c6\uff0c\u5373\u65e0\u7ebf\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u591a\u4ee3\u7406\u8c03\u5ea6\u6570\u636e\u96c6\uff08WHALES\uff09\uff0c\u5b83\u6db5\u76d6\u4e867\u4e07\u5f20RGB\u56fe\u50cf\u30011.7\u4e07\u5e27LiDAR\u6570\u636e\u4ee5\u53ca201\u4e07\u4e2a3D\u8fb9\u754c\u6846\u6ce8\u91ca\u3002\u5982\u56fe1\u6240\u793a\uff0cWHALES\u6db5\u76d6\u4e86\u5404\u79cd\u9053\u8def\u573a\u666f\uff0c\u5305\u62ec\u4ea4\u53c9\u53e3\u3001T\u578b\u8def\u53e3\u3001\u9ad8\u901f\u516c\u8def\u531d\u9053\u3001\u73af\u5f62\u4ea4\u53c9\u8def\u53e3\u548c\u4e94\u5c94\u8def\u53e3\u3002\u5b83\u8d85\u8d8a\u4e86\u4f20\u7edf\u7684\u57fa\u4e8e\u611f\u77e5\u7684\u65b9\u6cd5\uff0c\u4f7f\u5f97\u66f4\u5168\u9762\u7684\u534f\u540c\u529f\u80fd\u6210\u4e3a\u53ef\u80fd\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u548c\u57fa\u51c6\u4efb\u52a1\u4e13\u95e8\u8bbe\u8ba1\u7528\u4e8e\u4fc3\u8fdb\u521b\u65b0\u5e76\u63a8\u52a8V2X\u534f\u540c\u611f\u77e5\u7684\u8fdb\u6b65\u3002\u56fe2\u5c55\u793a\u4e86WHALES\u6570\u636e\u96c6\u4e2d\u5355\u5e27\u7684\u6982\u89c8\u3002\u5728\u56fe2(a)\u4e2d\uff0c\u663e\u793a\u4e86\u573a\u666f\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u3002\u56fe2(b)\u53ef\u89c6\u5316\u4e86\u8be5\u5e27\u4e2d\u6240\u6709\u4ee3\u7406\uff08\u5305\u62ec\u4e00\u4e2aRSU\uff09\u7684\u70b9\u4e91\uff0c\u800c\u56fe2\u00a9\u5c55\u793a\u4e86\u6240\u6709\u4ee3\u7406\u7684\u524d\u89c6\u6444\u50cf\u5934\u89c6\u56fe\u3002\u81ea\u8f66\u4ee3\u7406\u53ef\u4ee5\u901a\u8fc7\u9002\u5f53\u5730\u8c03\u5ea6\u4e0e\u9644\u8fd1\u4ee3\u7406\u7684\u534f\u4f5c\u6765\u68c0\u6d4b\u5468\u56f4\u7269\u4f53\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"263\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-646-1024x263.png\" alt=\"\" class=\"wp-image-19846\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-646-1024x263.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-646-300x77.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-646-768x197.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-646.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728WHALES\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\u5b9e\u9a8c\u6db5\u76d6\u4e86\u72ec\u7acb\u548c\u534f\u540c3D\u611f\u77e5\u4ee5\u53ca\u4ee3\u7406\u8c03\u5ea6\u3002\u4ee3\u7406\u8c03\u5ea6\u662f\u6211\u4eec\u6570\u636e\u96c6\u5f15\u5165\u7684\u65b0\u4efb\u52a1\uff0c\u8d85\u8d8a\u4e86\u4ee5\u5f80\u7814\u7a76\u6240\u63a2\u7d22\u7684\u9886\u57df\u3002\u6211\u4eec\u4f7f\u7528MMDetection3D\u5b9e\u73b0\u4e86\u8be5\u6570\u636e\u96c6\uff0c\u5e76\u63d0\u4f9b\u4e86\u57fa\u7ebf\u6a21\u578b\u53ca\u5176\u5bf9\u5e94\u7684\u6027\u80fd\u6307\u6807\u3002\u73b0\u6709\u7684\u4ee3\u7406\u8c03\u5ea6\u65b9\u6cd5\u88ab\u96c6\u6210\u5230\u9884\u5904\u7406\u6d41\u6c34\u7ebf\u4e2d\uff0c\u4f7f\u7814\u7a76\u4eba\u5458\u80fd\u591f\u8f7b\u677e\u5730\u63d0\u51fa\u548c\u8bc4\u4f30\u65b0\u7684\u8c03\u5ea6\u7b56\u7565\u3002<\/p>\n\n\n\n<p>3.WHALES \u6570\u636e\u96c6<\/p>\n\n\n\n<p>\u8868I\u7a81\u51fa\u663e\u793a\u4e86\u6211\u4eec\u7684\u6570\u636e\u96c6\u76f8\u8f83\u4e8e\u73b0\u6709\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\u7684\u4f18\u52bf\u3002WHALES\u63d0\u4f9b\u4e86\u591a\u4e2a\u72ec\u7279\u7684\u4f18\u52bf\uff0c\u5305\u62ec\u5bf9V2V\u548cV2I\u7684\u5e7f\u6cdb\u652f\u6301\uff0c\u4ee5\u53ca\u901a\u8fc7\u6bcf\u4e2a\u573a\u666f\u7684\u5927\u91cf\u89c6\u89d2\u63d0\u4f9b\u4e30\u5bcc\u7684\u9053\u8def\u4fe1\u606f\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u5e73\u5747\u6bcf\u4e2a\u573a\u666f\u67098.4\u4e2a\u89c6\u89d2\uff0c\u5728\u8bc4\u4f30\u4e0d\u540c\u591a\u4ee3\u7406\u8c03\u5ea6\u7b97\u6cd5\u7684\u6027\u80fd\u65b9\u9762\uff0c\u8d85\u8d8a\u4e86\u5176\u4ed6\u6570\u636e\u96c6\u3002WHALES\u5305\u542b\u4e8617K LiDAR\u70b9\u4e91\u548c70K\u5f20\u56fe\u50cf\uff0c\u5176\u573a\u666f\u76f8\u6bd4\u5176\u4ed6\u6570\u636e\u96c6\u5c55\u793a\u4e86\u66f4\u9ad8\u7684\u4ee3\u7406\u5bc6\u5ea6\u3002\u6211\u4eec\u5b9a\u4e49\u6709\u6548\u76843D\u8fb9\u754c\u6846\u4e3a\u5728\u4ee3\u7406\u89c6\u91ce\u518550\u7c73\u8303\u56f4\u5185\u7684\u8fb9\u754c\u6846\u3002\u6839\u636e\u8fd9\u4e00\u5b9a\u4e49\uff0cWHALES\u8de8\u591a\u4e2a\u89c6\u89d2\u62e5\u67092.01M\u4e2a\u6709\u6548\u76843D\u8fb9\u754c\u6846\u3002\u6574\u4e2a\u6570\u636e\u96c6\u4e2d\u5171\u6709511K\u4e2a\u552f\u4e00\u76843D\u8fb9\u754c\u6846\uff0c\u8d85\u8fc7\u4e86\u5176\u4ed6\u73b0\u6709\u6570\u636e\u96c6\u4e2d\u7684\u6570\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-647-1024x199.png\" alt=\"\" class=\"wp-image-19847\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-647-1024x199.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-647-300x58.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-647-768x149.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-647.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u968f\u7740\u5728\u4e00\u4e2a\u6709\u9650\u533a\u57df\u5185\u7684\u4ee3\u7406\u6570\u91cf\u589e\u52a0\uff0c\u6a21\u62df\u65f6\u95f4\u548c\u8ba1\u7b97\u6210\u672c\u7531\u4e8e\u4ee3\u7406\u95f4\u4ea4\u4e92\u7684\u589e\u52a0\u800c\u5448\u975e\u7ebf\u6027\u589e\u957f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u6211\u4eec\u4e3a\u6bcf\u4e2a\u6d3b\u8dc3\u4ee3\u7406\u5206\u914d\u4e86\u4e00\u4e2a\u72ec\u7acb\u7684\u8fdb\u7a0b\u751f\u6210\u539f\u59cb\u6570\u636e\uff0c\u5e76\u5c06\u7ed3\u679c\u5b58\u50a8\u5728\u961f\u5217\u4e2d\u3002\u6211\u4eec\u786e\u4fdd\u8fd9\u4e9b\u4ee3\u7406\u8fdb\u7a0b\u662f\u540c\u6b65\u7684\uff0c\u5e76\u5c06\u5b83\u4eec\u7684\u89c2\u6d4b\u7ed3\u679c\u6536\u96c6\u6210\u6279\u6b21\u3002\u7136\u540e\u4f7f\u7528\u4e13\u5bb6\u6a21\u578b\u540c\u65f6\u4ece\u6279\u6b21\u89c2\u6d4b\u4e2d\u751f\u6210\u4ee3\u7406\u884c\u4e3a\u3002\u5728NVIDIA 4090 GPU\u4e0a\uff0c\u6211\u4eec\u7684\u6a21\u62df\u5668\u5e73\u5747\u6bcf\u589e\u52a0\u4e00\u4e2a\u4ee3\u7406\u9700\u8981\u7ea6160ms\u7684\u65f6\u95f4\uff0c\u4ece\u800c\u6709\u6548\u5730\u5c06\u65f6\u95f4\u6210\u672c\u964d\u4f4e\u4e3a\u7ebf\u6027\u51fd\u6570\uff0c\u4f7f\u5f97\u751f\u6210\u6570\u636e\u96c6\u7684\u65f6\u95f4\u548c\u8ba1\u7b97\u6210\u672c\u53ef\u4ee5\u63a5\u53d7\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">A. \u4f20\u611f\u5668\u548c\u4ee3\u7406\u8bbe\u7f6e<\/h4>\n\n\n\n<p>\u8868II\u548c\u8868III\u5217\u51fa\u4e86WHALES\u6570\u636e\u96c6\u4e2d\u7684\u4f20\u611f\u5668\u548c\u4ee3\u7406\u914d\u7f6e\u3002\u6570\u636e\u96c6\u4e3a\u667a\u80fd\u4ee3\u7406\u63d0\u4f9b\u4e86\u591a\u6a21\u6001\u611f\u5b98\u8f93\u5165\uff0c\u5728\u590d\u6742\u6027\u4e0e\u6a21\u62df\u5668\u652f\u6301\u7684\u4efb\u52a1\u4e4b\u95f4\u8fbe\u5230\u4e86\u5e73\u8861\u3002\u603b\u7684\u6765\u8bf4\uff0c\u6211\u4eec\u5b9a\u4e49\u4e86\u56db\u79cd\u4ee3\u7406\u7c7b\u578b\u3002\u7b2c\u4e00\u79cd\u662f\u975e\u63a7\u5236\u7684CAV\uff08\u8054\u7f51\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff09\u3002\u7b2c\u4e8c\u79cd\u662f\u53d7\u63a7CAV\u3002\u8fd9\u4e24\u79cdCAV\u90fd\u914d\u5907\u4e86\u4e00\u4e2a64\u7ebf\u675fLiDAR\u548c\u56db\u4e2a1920\u00d71080\u6444\u50cf\u5934\uff0c\u4ee5\u53caV2X\u901a\u4fe1\u8bbe\u5907\u3002\u901a\u8fc7\u8fd9\u4e9b\u8bbe\u7f6e\uff0c\u5b83\u4eec\u53ef\u4ee5\u6267\u884c\u611f\u77e5\u548c\u901a\u4fe1\u4efb\u52a1\u3002\u53d7\u63a7\u8f66\u8f86\u53ef\u4ee5\u901a\u8fc7\u81ea\u5b9a\u4e49\u7684\u89c4\u5212\u548c\u63a7\u5236\u7b97\u6cd5\u8fdb\u884c\u63a7\u5236\u3002\u7b2c\u4e09\u79cd\u662f\u5b89\u88c5\u5728\u8def\u8fb9\u7684RSU\uff08\u8def\u8fb9\u5355\u5143\uff09\uff0c\u4e5f\u914d\u5907\u4e86LiDAR\u548c\u6444\u50cf\u5934\u3002\u7b2c\u56db\u79cd\u662f\u975e\u73a9\u5bb6\u6216\u969c\u788d\u7269\u4ee3\u7406\uff0c\u8fd9\u4e9b\u4ee3\u7406\u6ca1\u6709\u914d\u5907\u4efb\u4f55\u4f20\u611f\u5668\uff0c\u5176\u8f68\u8ff9\u662f\u4e0d\u53ef\u63a7\u7684\u3002\u5728\u8fd9\u79cd\u8bbe\u7f6e\u4e0b\uff0c\u6211\u4eec\u80fd\u591f\u8bc4\u4f30\u901a\u8fc7\u534f\u4f5c\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u548c\u5176\u4ed6\u57fa\u51c6\u6307\u6807\u7684\u589e\u5f3a\u4f5c\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"207\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-648.png\" alt=\"\" class=\"wp-image-19848\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-648.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-648-300x90.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"135\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-649-1024x135.png\" alt=\"\" class=\"wp-image-19849\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-649-1024x135.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-649-300x39.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-649-768x101.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-649.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">B. \u6570\u636e\u96c6\u7ed3\u6784<\/h4>\n\n\n\n<p>\u6211\u4eec\u7684\u6570\u636e\u96c6\u7ec4\u7ec7\u4e3a\u573a\u666f\u3001\u5e27\u3001\u6837\u672c\u548c\u6ce8\u91ca\u3002\u4e00\u4e2a\u573a\u666f\u8868\u793a\u6a21\u62df\u7684\u4e00\u6bb5\u65f6\u95f4\u3002\u5728\u6a21\u62df\u4e2d\uff0c\u6211\u4eec\u5c06\u91c7\u6837\u95f4\u9694\u8bbe\u7f6e\u4e3a0.1\u79d2\uff0c\u800c\u6bcf\u96940.5\u79d2\u4fdd\u5b58\u4e00\u5e27\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u573a\u666f\uff0c\u6211\u4eec\u63d0\u4f9b\u57fa\u672c\u7684\u6a21\u62df\u914d\u7f6e\u4fe1\u606f\u4ee5\u53ca\u4e24\u4e2a\u89c6\u9891\uff1a\u4e00\u4e2a\u663e\u793a\u6240\u6709\u4ee3\u7406\u7684\u524d\u89c6\u6444\u50cf\u5934\u89c6\u56fe\uff0c\u53e6\u4e00\u4e2a\u663e\u793a\u7c7b\u4f3c\u4e8e\u4e2d\u6240\u8ff0\u7684\u7f16\u7801\u9e1f\u77b0\u56fe\uff08BEV\uff09\u5730\u56fe\u3002\u5728\u6bcf\u4e00\u5e27\u4e2d\uff0c\u8bb0\u5f55\u4e86\u6bcf\u4e2a\u4ee3\u7406\u7684\u7269\u4f53\u7c7b\u522b\u3001\u4f4d\u7f6e\u3001\u65cb\u8f6c\u548c\u901f\u5ea6\uff0c\u4ee5\u53ca\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u6ce8\u91ca\u3002\u5728\u4e00\u5e27\u4e2d\uff0c\u6bcf\u4e2a\u4ee3\u7406\u4f9d\u6b21\u5145\u5f53\u81ea\u8f66\u89d2\u8272\uff0c\u56e0\u6b64\u5728\u4e00\u4e2a\u5305\u542bM\u4e2a\u667a\u80fd\u4ee3\u7406\u7684\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u6bcf\u5e27\u6709M\u4e2a\u6837\u672c\u3002\u6211\u4eec\u5c06\u8fb9\u754c\u6846\u6295\u5f71\u5230\u81ea\u8f66\u5750\u6807\u7cfb\u4e2d\uff0c\u5e76\u5728\u611f\u77e5\u8303\u56f4\u5185\u7b5b\u9009\u51fa\u6709\u6548\u7684\u8fb9\u754c\u6846\u4ee5\u751f\u6210\u4e00\u4e2a\u6837\u672c\u4e2d\u7684\u6ce8\u91ca\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">C. \u6570\u636e\u96c6\u914d\u7f6e\u7cfb\u7edf<\/h4>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528\u7ecf\u8fc7\u4fee\u6539\u7684CARLA\u6a21\u62df\u5668\u751f\u6210\u6570\u636e\u96c6\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7ee7\u627f\u4e86\u4e00\u4e2a\u5f3a\u5316\u5b66\u4e60\u73af\u5883\uff0c\u5176\u4e2d\u5305\u62ec\u4e86\u4e00\u4e9b\u6765\u81ea\u5148\u524d\u7814\u7a76\u7684\u57fa\u672c\u4e16\u754c\u8bbe\u7f6e\u3002\u4e3a\u4e86\u521b\u5efa\u6709\u5229\u4e8e\u534f\u4f5c\u7684\u73af\u5883\uff0c\u6240\u6709\u4ee3\u7406\u90fd\u751f\u6210\u5728\u56f4\u7ed5\u4e00\u4e2a\u4e2d\u5fc3\u70b9\u7684\u77e9\u5f62\u533a\u57df\u5185\u3002\u6211\u4eec\u7684\u5b9e\u9a8c\u914d\u7f6e\u7cfb\u7edf\u96c6\u6210\u5728MMDetection3D \u4e2d\uff0c\u5229\u7528\u4e00\u4e2aPython\u6587\u4ef6\u5b58\u50a8\u5b9e\u9a8c\u8bbe\u7f6e\uff0c\u5305\u62ec\u6a21\u578b\u7ed3\u6784\u3001\u6570\u636e\u5904\u7406\u7ba1\u9053\u548c\u4ee3\u7406\u8c03\u5ea6\u7b56\u7565\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">D. \u6570\u636e\u5206\u6790<\/h4>\n\n\n\n<p>\u56fe3\u5c55\u793a\u4e86\u6211\u4eec\u6570\u636e\u96c6\u4e2d\u8fb9\u754c\u6846\u6ce8\u91ca\u7684\u65b9\u5411\u5206\u5e03\u3002\u5982\u56fe3(a)\u6240\u793a\uff0c\u81ea\u8f66\u5468\u56f4\u7684\u8fb9\u754c\u6846\u5206\u5e03\u5728\u5404\u79cd\u65b9\u5411\u3002\u7531\u4e8e\u9053\u8def\u65b9\u5411\u7684\u9650\u5236\uff0c\u8bb8\u591a\u7269\u4f53\u4e0e\u81ea\u8f66\u65b9\u5411\u5e73\u884c\u6216\u5782\u76f4\u6392\u5217\uff0c\u5728\u56db\u4e2a\u65b9\u5411\u4e0a\u5448\u73b0\u51fa\u96c6\u4e2d\u7684\u84dd\u8272\u9634\u5f71\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"321\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-650-1024x321.png\" alt=\"\" class=\"wp-image-19850\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-650-1024x321.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-650-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-650-768x241.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-650.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe3(b)\u5c55\u793a\u4e86\u534f\u4f5c\u4ee3\u7406\u4e4b\u95f4\u8ddd\u79bb\u7684\u5206\u5e03\u3002\u5927\u591a\u6570\u8f66\u8f86\u76f8\u4e92\u9760\u8fd1\uff0c\u63d0\u4f9b\u4e92\u8865\u7684\u89c6\u89d2\uff0c\u800c\u4e00\u4e9b\u8f66\u8f86\u5219\u653e\u7f6e\u5f97\u66f4\u8fdc\uff0c\u4ee5\u63d0\u4f9b\u8fdc\u8ddd\u79bb\u4fe1\u606f\u3002\u56fe3\u00a9\u8bf4\u660e\u4e86\u4ee3\u7406\u4e0e\u7269\u4f53\u4e4b\u95f4\u6700\u5c0f\u8ddd\u79bb\u7684\u5206\u5e03\uff0c\u6700\u8fd1\u7684\u7269\u4f53\u901a\u5e38\u5728\u4ee3\u740620\u7c73\u8303\u56f4\u5185\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u6ce8\u91ca\u65b9\u6848\u9075\u5faanuScenes\u6570\u636e\u96c6\u7684\u60ef\u4f8b\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u6240\u6709\u6ce8\u91ca\u90fd\u662f\u4f7f\u7528CARLA\u6a21\u62df\u5668\u751f\u6210\u7684\u3002\u6a21\u578b\u9700\u8981\u68c0\u6d4b\u6240\u6709\u572850\u7c73\u6709\u6548\u68c0\u6d4b\u8303\u56f4\u5185\u7684\u7269\u4f53\uff0c\u5305\u62ec\u88ab\u906e\u6321\u7684\u7269\u4f53\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u73b0\u6709\u7684nuScenes\u6807\u7b7e\u5916\uff0c\u8fd8\u5305\u62ec\u4e86\u65b0\u7684\u534f\u4f5c\u611f\u77e5\u4efb\u52a1\u6ce8\u91ca\uff0c\u4f8b\u5982\u63cf\u8ff0\u4ee3\u7406\u4e4b\u95f4\u8ddd\u79bb\u548c\u906e\u6321\u5173\u7cfb\u7684\u56fe\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">E. \u652f\u6301\u7684\u4efb\u52a1<\/h4>\n\n\n\n<p>WHALES\u6570\u636e\u96c6\u652f\u6301\u5355\u4e00\u548c\u534f\u4f5c\u76843D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002\u5728\u534f\u4f5c\u9a7e\u9a76\u4e2d\uff0c\u4f18\u5316\u4ee3\u7406\u8c03\u5ea6\u662f\u6211\u4eec\u5de5\u4f5c\u7684\u4e00\u4e2a\u5173\u952e\u91cd\u70b9\u3002\u5728\u6211\u4eec\u7684\u6570\u636e\u96c6\u4e2d\uff0c\u9009\u62e9\u5408\u9002\u7684\u4ee3\u7406\u8fdb\u884c\u534f\u4f5c\u5bf9\u4e8e\u8bad\u7ec3\u548c\u63a8\u7406\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u6709\u5927\u91cf\u5019\u9009\u4ee3\u7406\u53ef\u4f9b\u9009\u62e9\u3002\u800c\u5728\u5019\u9009\u6570\u91cf\u8f83\u5c11\u7684\u73b0\u6709\u6570\u636e\u96c6\u4e2d\uff0c\u8fd9\u4e00\u4efb\u52a1\u7684\u76f8\u5173\u6027\u8f83\u4f4e\u3002\u4ee3\u7406\u8c03\u5ea6\u7a0b\u5e8f\u88ab\u96c6\u6210\u5230\u6570\u636e\u9884\u5904\u7406\u7ba1\u9053\u4e2d\uff0c\u5e76\u63d0\u4f9b\u591a\u79cd\u8c03\u5ea6\u7b97\u6cd5\uff0c\u4f7f\u7814\u7a76\u4eba\u5458\u53ef\u4ee5\u8f7b\u677e\u8bad\u7ec3\u548c\u6d4b\u8bd5\u4e0d\u540c\u7684\u8c03\u5ea6\u7b56\u7565\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8bb0\u5f55\u4e86RL\u4e13\u5bb6\u7684\u771f\u5b9e\u4ee3\u7406\u884c\u4e3a\u548c\u8f68\u8ff9\u3002\u7531RL\u6a21\u578b\u751f\u6210\u7684\u573a\u666f\u6839\u636e\u5956\u52b1\u3001\u573a\u666f\u957f\u5ea6\u548c\u573a\u666f\u4e2d\u4e09\u7c7b\u4ee3\u7406\u7684\u6570\u91cf\u8fdb\u884c\u8fc7\u6ee4\u3002\u8fd9\u4e3a\u4e0b\u6e38\u4efb\u52a1\u7684\u672a\u6765\u6269\u5c55\u63d0\u4f9b\u4e86\u4fbf\u5229\u3002\u5728\u4e0b\u4e00\u5c0f\u8282\u4e2d\uff0c\u5c06\u8be6\u7ec6\u4ecb\u7ecd\u6bcf\u9879\u4efb\u52a1\u7684\u5b9e\u73b0\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">4.Experiment<\/h2>\n\n\n\n<p>\u6211\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u534f\u4f5c\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5305\u62ec\u5355\u72ec\u7684\u548c\u534f\u4f5c\u76843D\u76ee\u6807\u68c0\u6d4b\u4ee5\u53ca\u4ee3\u7406\u8c03\u5ea6\u3002\u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u4e2d\uff0c\u4f7f\u7528\u4e86\u591a\u79cd\u6307\u6807\u6765\u8bc4\u4f30\u6a21\u578b\u5728\u4e0d\u540c\u4efb\u52a1\u4e0a\u7684\u6027\u80fd\u3002\u6bcf\u9879\u4efb\u52a1\u7684\u57fa\u51c6\u5c06\u5728\u4ee5\u4e0b\u5c0f\u8282\u4e2d\u5206\u522b\u4ecb\u7ecd\u3002<br>\uff081\uff09\u5355\u72ec\u76843D\u76ee\u6807\u68c0\u6d4b<br>\u8868IV\u663e\u793a\u4e8650\u7c73\u548c100\u7c73\u8bbe\u7f6e\u4e0b\u5355\u72ec3D\u76ee\u6807\u68c0\u6d4b\u5b9e\u9a8c\u7684\u7ed3\u679c\u3002\u6240\u6709\u6a21\u578b\u5728\u68c0\u6d4b\u8f66\u8f86\u65f6\u7684\u8868\u73b0\u4f18\u4e8e\u68c0\u6d4b\u9a91\u884c\u8005\u548c\u884c\u4eba\uff0c\u8fd9\u662f\u7531\u4e8e\u8f66\u8f86\u7684\u5e73\u5747\u8fb9\u754c\u6846\u5927\u4e8e\u540e\u4e24\u7c7b\u3002\u5728\u68c0\u6d4b\u8303\u56f4\u6269\u5c55\u5230100\u7c73\u65f6\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u5927\u591a\u6570\u5355\u72ec\u611f\u77e5\u6a21\u578b\u5728\u6b64\u8ddd\u79bb\u4e0b\u96be\u4ee5\u68c0\u6d4b\u884c\u4eba\u548c\u9a91\u884c\u8005\u3002\u8fd9\u4e9b\u53d1\u73b0\u5f3a\u8c03\u4e86\u534f\u4f5c\u5728\u589e\u5f3a\u8fdc\u8ddd\u79bb\u611f\u77e5\u4e2d\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"146\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-651-1024x146.png\" alt=\"\" class=\"wp-image-19851\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-651-1024x146.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-651-300x43.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-651-768x110.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-651.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\uff082\uff09\u534f\u4f5c3D\u76ee\u6807\u68c0\u6d4b<br>\u8868V\u5c55\u793a\u4e86\u534f\u4f5c3D\u76ee\u6807\u68c0\u6d4b\u7684\u5b9e\u9a8c\u7ed3\u679c\u3002\u6211\u4eec\u5c06No Fusion\u65b9\u6cd5\u4f5c\u4e3a\u57fa\u7ebf\uff0c\u5e76\u53d1\u73b0\u4f7f\u7528\u7a00\u758f\u5377\u79ef\u8fdb\u884c\u878d\u5408\u7684\u534f\u4f5c\u7248VoxelNeXt[34]\u5728\u6240\u6709\u5355\u5c42\u878d\u5408\u6a21\u578b\u4e2d\u8868\u73b0\u6700\u597d\u3002\u4e0e\u57fa\u7ebf\u76f8\u6bd4\uff0c\u6240\u6709\u7ea7\u522b\u7684\u534f\u4f5c\u90fd\u80fd\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\u3002\u539f\u59cb\u7ea7\u522b\u7684CP\uff08\u534f\u4f5c\u611f\u77e5\uff09\u7531\u4e8e\u4e0e\u65e0\u878d\u5408\u65b9\u6cd5\u5171\u4eab\u76f8\u540c\u7684\u6a21\u578b\u7ed3\u6784\u4e14\u8868\u73b0\u80fd\u529b\u8f83\u5f31\uff0c\u88ab\u7279\u5f81\u7ea7\u65b9\u6cd5\u8d85\u8d8a\u3002\u4e0e\u57fa\u7ebf\u76f8\u6bd4\uff0cF-Cooper[35]\u572850\u7c73\u548c100\u7c73\u8303\u56f4\u5185\u7684mAP\u5206\u522b\u63d0\u9ad8\u4e8619.5%\u548c38.4%\uff0c\u800cVoxelNeXt[34]\u7684\u63d0\u5347\u5206\u522b\u4e3a25.7%\u548c81.3%\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u901a\u8fc7\u534f\u4f5c\u53ef\u4ee5\u663e\u8457\u6539\u5584\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"131\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-652-1024x131.png\" alt=\"\" class=\"wp-image-19852\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-652-1024x131.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-652-300x38.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-652-768x98.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-652.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\uff083\uff09\u4ee3\u7406\u8c03\u5ea6<br>\u5982\u8868VI\u6240\u793a\u3002\u8868\u4e2d\u7684\u6bcf\u4e00\u884c\u5bf9\u5e94\u4e8e\u63a8\u7406\u8fc7\u7a0b\u4e2d\u4f7f\u7528\u7684\u8c03\u5ea6\u7b56\u7565\uff0c\u800c\u6bcf\u4e00\u5217\u5bf9\u5e94\u4e8e\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5e94\u7528\u7684\u76f8\u540c\u8c03\u5ea6\u7b56\u7565\u3002\u5355\u4ee3\u7406\u8c03\u5ea6\u90e8\u5206\u5305\u62ec\u4e86\u81ea\u8f66\u9009\u62e9\u5355\u4e2a\u5019\u9009\u4ee3\u7406\u8fdb\u884c\u534f\u4f5c\u7684\u5404\u79cd\u7b56\u7565\u7684\u8868\u73b0\uff0c\u800c\u591a\u4ee3\u7406\u8c03\u5ea6\u5219\u6d89\u53ca\u4e24\u540d\u6216\u66f4\u591a\u4ee3\u7406\u7684\u8c03\u5ea6\u7b97\u6cd5\u5728CP\u4e2d\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"272\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-653-1024x272.png\" alt=\"\" class=\"wp-image-19853\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-653-1024x272.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-653-300x80.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-653-768x204.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-653.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7ed3\u679c\u663e\u793a\uff0cHistorical Best\u548cMASS\u5728\u5355\u968f\u673a\u4ee3\u7406\u8c03\u5ea6\u7b56\u7565\u4e0b\u8bad\u7ec3\u65f6\uff0c\u572850\u7c73\u548c100\u7c73\u8303\u56f4\u5185\u7684\u5355\u4ee3\u7406\u8c03\u5ea6\u4e2d\u63d0\u4f9b\u4e86\u6700\u4f73\u7684\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7531\u4e8eHistorical Best\u548cMASS[27]\u5728\u5229\u7528\u4e0e\u5176\u534f\u4f5c\u7684\u5386\u53f2\u4ee3\u7406\u65f6\u5b58\u5728\u76f8\u4f3c\u6027\uff0c\u56e0\u6b64\u67d0\u4e9b\u63a8\u7406\u7ed3\u679c\u662f\u76f8\u540c\u7684\u3002\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff0cMASS[27]\u4e2d\u7684\u81ea\u8f66\u65e0\u9700\u63e1\u624b\u5373\u53ef\u8fdb\u884c\u8c03\u5ea6\uff0c\u56e0\u6b64\u5b83\u53ea\u8bb0\u5f55\u4e0e\u5176\u534f\u4f5c\u7684\u6700\u540e\u4e00\u4e2a\u4ee3\u7406\uff1b\u800c\u5728Historical Best\u4e2d\uff0c\u81ea\u8f66\u9700\u8981\u63e1\u624b\u8fdb\u884c\u8c03\u5ea6\uff0c\u56e0\u6b64\u53ef\u4ee5\u8bb0\u5f55\u6240\u6709\u4e0e\u5176\u534f\u4f5c\u8fc7\u7684\u5386\u53f2\u4ee3\u7406\u3002<\/p>\n\n\n\n<p>\u5728\u591a\u4ee3\u7406\u8c03\u5ea6\u7ed3\u679c\u4e2d\uff0cFull Communication\u5728\u8bad\u7ec3\u7b56\u7565\u4e0a\u4f18\u4e8e\u9664\u4e86No Fusion\u4ee5\u5916\u7684\u6240\u6709\u65b9\u6cd5\u3002\u8fd9\u662f\u56e0\u4e3a\u6a21\u578b\u5728\u5355\u72ec\u611f\u77e5\u8bbe\u7f6e\u4e0b\u8fdb\u884c\u8bad\u7ec3\uff0c\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u63d0\u4f9b\u663e\u8457\u66f4\u591a\u7684\u6570\u636e\u4f1a\u4f7f\u6a21\u578b\u8d85\u8d1f\u8377\uff0c\u5f15\u5165\u566a\u58f0\u5e76\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002<\/p>\n\n\n\n<p>\u5728\u5927\u591a\u6570\u73b0\u6709\u6570\u636e\u96c6\u4e2d\uff0c\u5f53\u5019\u9009\u8f66\u8f86\u6570\u91cf\u9650\u5236\u4e3a\u4e00\u8f86\u6216\u4e24\u8f86\u65f6\uff0c\u8c03\u5ea6\u7b56\u7565\u7684\u5f71\u54cd\u8f83\u5c0f\u3002\u7136\u800c\uff0c\u5728\u6211\u4eec\u7684\u6570\u636e\u96c6\u4e2d\uff0c\u7531\u4e8e\u4ee3\u7406\u6570\u91cf\u8f83\u591a\uff0c\u8c03\u5ea6\u7b56\u7565\u53d8\u5f97\u81f3\u5173\u91cd\u8981\u3002\u867d\u7136\u5927\u591a\u6570\u5148\u524d\u6570\u636e\u96c6\u4e13\u6ce8\u4e8e\u7ed9\u5b9a\u7684\u4e00\u5bf9\u6216\u7ec4\u5408\u667a\u80fd\u4ee3\u7406\u4e4b\u95f4\u7684CP\uff0c\u4f46\u6211\u4eec\u7684\u6570\u636e\u96c6\u5f3a\u8c03\u4f18\u5316CP\u4e2d\u7684\u8c03\u5ea6\u95ee\u9898\u3002\u65e0\u8bba\u63a8\u7406\u7b56\u7565\u5982\u4f55\uff0c\u968f\u673a\u8bad\u7ec3\u7b56\u7565\u901a\u8fc7\u751f\u6210\u66f4\u591a\u591a\u6837\u5316\u7684\u8f93\u5165\u5e76\u5728\u6709\u9650\u7684\u8bad\u7ec3\u5468\u671f\u5185\u8868\u73b0\u51fa\u66f4\u597d\u7684\u6cdb\u5316\u80fd\u529b\u3002\u6211\u4eec\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5f53\u68c0\u6d4b\u8303\u56f4\u589e\u52a0\u65f6\uff0c\u534f\u4f5c\u548c\u8c03\u5ea6\u53d8\u5f97\u5c24\u4e3a\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u7ed3\u8bba<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1. \u672c\u6587\u6784\u5efa\u4e86WHALES\uff0c\u4e00\u4e2a\u652f\u6301\u8f66\u4e0e\u8f66\uff08V2V\uff09\u548c\u8f66\u4e0e\u57fa\u7840\u8bbe\u65bd\uff08V2I\uff09\u611f\u77e5\u7684\u5927\u89c4\u6a21\u8c03\u5ea6\u6570\u636e\u96c6\u3002\u901a\u8fc7\u663e\u8457\u4f18\u5316CARLA\u5728\u5904\u7406\u5927\u91cf\u4ee3\u7406\u65f6\u7684\u6a21\u62df\u901f\u5ea6\u548c\u8ba1\u7b97\u6210\u672c\uff0c\u6240\u6709\u573a\u666f\u5747\u7531\u591a\u6a21\u6001\u4f20\u611f\u5668\u751f\u6210\uff0c\u5e76\u4e14\u6bcf\u4e2a\u9a7e\u9a76\u5e8f\u5217\u5e73\u5747\u5305\u542b8.4\u4e2a\u4ee3\u7406\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u5305\u542b\u4e86\u8d85\u8fc7201\u4e07\u4e2a\u6ce8\u91ca\u76843D\u8fb9\u754c\u6846\uff0c\u4ee5\u53ca\u5bf9\u8c61\u7d22\u5f15\u548c\u4ee3\u7406\u884c\u4e3a\u4fe1\u606f\uff0c\u5177\u5907\u5bf9\u4e0b\u6e38\u4efb\u52a1\u7684\u5f3a\u6269\u5c55\u6027\u3002<br>2. \u672c\u6587\u5c55\u793a\u4e86\u6570\u636e\u96c6\u5728\u4e24\u4e2a\u534f\u540c\u4efb\u52a1\uff08\u5305\u62ec3D\u7269\u4f53\u68c0\u6d4b\u548c\u4ee3\u7406\u8c03\u5ea6\uff09\u4e2d\u7684\u5e94\u7528\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u8003\u8651\u534f\u540c\u611f\u77e5\u4e2d\u8c03\u5ea6\u4efb\u52a1\u7684\u6570\u636e\u96c6\u3002\u6211\u4eec\u4e3a\u8fd9\u4e24\u4e2a\u4efb\u52a1\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u57fa\u51c6\uff0c\u5e76\u9488\u5bf9\u4ee3\u7406\u8c03\u5ea6\u4efb\u52a1\u5206\u6790\u4e86\u73b0\u6709\u7684\u5355\u4ee3\u7406\u548c\u591a\u4ee3\u7406\u8c03\u5ea6\u7b97\u6cd5\u3002<\/p>\n\n\n\n<p><strong>\u6587\u7ae0\u5f15\u7528<\/strong>\uff1aWHALES: A Multi-agent Scheduling Dataset for Enhanced Cooperation in Autonomous Driving<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Abstract \u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5b9e\u73b0\u9ad8\u6c34\u5e73\u7684\u5b89\u5168 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-19844","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":3,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19844"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=19844"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19844\/revisions"}],"predecessor-version":[{"id":19854,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19844\/revisions\/19854"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=19844"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=19844"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=19844"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}