{"id":26019,"date":"2025-03-10T17:22:28","date_gmt":"2025-03-10T09:22:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26019"},"modified":"2025-03-10T17:22:28","modified_gmt":"2025-03-10T09:22:28","slug":"2025-03-10-%e9%97%ad%e7%8e%afsota%ef%bc%81bevdriver%ef%bc%9a%e5%9f%ba%e4%ba%8e%e5%a4%9a%e6%a8%a1%e6%80%81bev%e8%a1%a8%e5%be%81%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%86%b3%e7%ad%96%e6%96%b0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/10\/26019\/","title":{"rendered":"2025-03-10 \u95ed\u73afSOTA\uff01BEVDriver\uff1a\u57fa\u4e8e\u591a\u6a21\u6001BEV\u8868\u5f81\u7684\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u65b0\u8303\u5f0f\uff0c\u66b4\u529b\u63d0\u534735%~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/ezuOKcxqHvmZhDsbLcoufA\">https:\/\/mp.weixin.qq.com\/s\/ezuOKcxqHvmZhDsbLcoufA<\/a><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u6709\u671b\u4e3a\u672a\u6765\u51fa\u884c\u6548\u7387\u5960\u5b9a\u57fa\u7840\uff0c\u4f46\u5176\u7814\u7a76\u9886\u57df\u9700\u901a\u8fc7\u5b89\u5168\u3001\u53ef\u9760\u4e14\u900f\u660e\u7684\u9a7e\u9a76\u80fd\u529b\u5efa\u7acb\u4fe1\u4efb\u3002\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u51ed\u501f\u5176\u63a8\u7406\u80fd\u529b\u548c\u81ea\u7136\u8bed\u8a00\u7406\u89e3\u6f5c\u529b\uff0c\u53ef\u4f5c\u4e3a\u901a\u7528\u51b3\u7b56\u8005\u8fdb\u884c\u81ea\u8f66\u8fd0\u52a8\u89c4\u5212\uff0c\u5e76\u4e0e\u4eba\u7c7b\u4ea4\u4e92\u53ca\u9002\u5e94\u4e3a\u4eba\u8bbe\u8ba1\u7684\u9a7e\u9a76\u73af\u5883\u3002\u5c3d\u7ba1\u8fd9\u4e00\u65b9\u5411\u524d\u666f\u5e7f\u9614\uff0c\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728\u7ed3\u54083D\u7a7a\u95f4\u8868\u5f81\u4e0eLLMs\u7684\u63a8\u7406\u53ca\u8bed\u8a00\u80fd\u529b\u65b9\u9762\u4ecd\u9762\u4e34\u6311\u6218\u3002\u672c\u6587\u63d0\u51faBEVDriver\uff0c\u4e00\u79cd\u57fa\u4e8eLLM\u7684\u7aef\u5230\u7aef\u95ed\u73af\u9a7e\u9a76\u6a21\u578b\uff0c\u5728CARLA\u6a21\u62df\u5668\u4e2d\u5229\u7528\u6f5c\u5728BEV\uff08\u9e1f\u77b0\u56fe\uff09\u7279\u5f81\u4f5c\u4e3a\u611f\u77e5\u8f93\u5165\u3002<\/p>\n\n\n\n<p>BEVDriver\u901a\u8fc7BEV\u7f16\u7801\u5668\u9ad8\u6548\u5904\u7406\u591a\u89c6\u89d2\u56fe\u50cf\u4e0e3D 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class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2503.03074<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u5728\u590d\u6742\u4e14\u5b89\u5168\u81f3\u4e0a\u7684\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u751f\u6210\u5f0f\u7aef\u5230\u7aef\u65b9\u6cd5\u662f\u57fa\u4e8e\u89c4\u5219\u6216\u6a21\u5757\u5316\u9884\u6d4b\u4e0e\u8fd0\u52a8\u89c4\u5212\u65b9\u6848\u7684\u6709\u529b\u66ff\u4ee3\u65b9\u6848\u3002\u540e\u8005\u7684\u6cdb\u5316\u80fd\u529b\u5b58\u5728\u4e0d\u8db3\uff0c\u800c\u751f\u6210\u5f0f\u65b9\u6cd5\u5219\u80fd\u901a\u8fc7\u66f4\u591a\u8bad\u7ec3\u6570\u636e\u63d0\u5347\u6027\u80fd\uff0c\u5e76\u9ad8\u6548\u4f18\u5316\u6700\u7ec8\u9a7e\u9a76\u4efb\u52a1\u3002LLMs\u51ed\u501f\u5176\u63a8\u7406\u80fd\u529b\u4e0e\u81ea\u7136\u8bed\u8a00\u7406\u89e3\uff0c\u88ab\u89c6\u4e3a\u9ad8\u6548\u4e14\u53ef\u89e3\u91ca\u7684\u51b3\u7b56\u8005\u3002\u5176\u5185\u5728\u7684\u4e16\u754c\u77e5\u8bc6\u589e\u5f3a\u4e86\u4e0a\u4e0b\u6587\u7406\u89e3\u4e0e\u63a8\u7406\u80fd\u529b\uff0c\u540c\u65f6\u751f\u6210\u81ea\u7136\u8bed\u8a00\u89e3\u91ca\u7684\u6f5c\u529b\u4e3a\u89e3\u51b3\u751f\u6210\u6a21\u578b\u7684\u201c\u9ed1\u7bb1\u201d\u95ee\u9898\u63d0\u4f9b\u4e86\u9014\u5f84\u3002\u7136\u800c\uff0cLLMs\u5728\u7edd\u5bf9\u7a7a\u95f4\u7406\u89e3\u4e0a\u7684\u5c40\u9650\u6027\u6210\u4e3a\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\u7684\u4e3b\u8981\u6311\u6218\uff0c\u56e0\u4e3a\u7cbe\u786e\u8fd0\u52a8\u9884\u6d4b\u4e0e\u8f68\u8ff9\u89c4\u5212\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8eTransformer\u7684\u8fd0\u52a8\u89c4\u5212\u65b9\u6cd5\u5229\u7528\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u56fe\uff0c\u5c06\u5355\u6a21\u6001\u6216\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\u8f6c\u6362\u4e3a\u81ea\u8f66\u5468\u56f4\u73af\u5883\u7684\u4fef\u89c6\u7279\u5f81\u8868\u793a\uff0c\u4e3a\u8f68\u8ff9\u89c4\u5212\u7b49\u4efb\u52a1\u63d0\u4f9b\u9c81\u68d2\u7684\u7a7a\u95f4\u8f93\u5165\u3002LMDrive\u9996\u6b21\u5b9e\u73b0\u4e86\u57fa\u4e8e\u8bed\u8a00\u6307\u4ee4\u7684CARLA\u6a21\u62df\u5668\u7aef\u5230\u7aef\u5bfc\u822a\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7BEV\u7f16\u7801\u5668\u5904\u7406LiDAR\u4e0e\u591a\u89c6\u89d2\u76f8\u673a\u6570\u636e\uff0c\u7ed3\u5408\u76ee\u6807\u68c0\u6d4b\u4e0e\u4ea4\u901a\u706f\u72b6\u6001\u7b49\u611f\u77e5\u6807\u8bb0\u53ca\u672a\u6765\u8def\u5f84\u70b9\u9884\u6d4b\uff0c\u9a8c\u8bc1\u4e86BEV\u7f16\u7801\u5668\u5728LLM\u9a71\u52a8\u7684\u8fd0\u52a8\u89c4\u5212\u7814\u7a76\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u6b64\uff0c\u672c\u6587\u8fdb\u4e00\u6b65\u62d3\u5c55LLMs\u7684\u80fd\u529b\uff0c\u8bc1\u660e\u5176\u4e0d\u4ec5\u80fd\u5b8c\u6210\u9ad8\u5c42\u51b3\u7b56\u6216\u8def\u5f84\u70b9\u4f18\u5316\uff0c\u8fd8\u53ef\u76f4\u63a5\u901a\u8fc7BEV\u7279\u5f81\uff08\u5305\u62ec3D 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BEV\u7279\u5f81\u56fe<\/strong><br>BEV\u7279\u5f81\u56fe\u901a\u8fc7\u5355\u6a21\u6001\u6216\u591a\u6a21\u6001\u8f93\u5165\u6570\u636e\u751f\u6210\u81ea\u8f66\u5468\u56f4\u73af\u5883\u7684\u4fef\u89c6\u8868\u793a\u3002\u8fd9\u79cd\u7a7a\u95f4\u8868\u5f81\u901a\u8fc7\u63d0\u4f9b\u65e0\u906e\u6321\u7684\u73af\u5883\u89c6\u89d2\uff0c\u589e\u5f3a\u4e86\u5bf9\u590d\u6742\u573a\u666f\u7684\u9c81\u68d2\u6027\u3002\u6b64\u5916\uff0c\u7edf\u4e00\u7684BEV\u8868\u793a\u4e3a\u4e0b\u6e38\u9884\u6d4b\u4e0e\u89c4\u5212\u6a21\u5757\u7684\u63a8\u7406\u63d0\u4f9b\u4e86\u4fbf\u5229\u3002BEVDepth\u4e13\u6ce8\u4e8e\u57fa\u4e8e\u76f8\u673a\u8f93\u5165\u76843D\u6df1\u5ea6\u4f30\u8ba1\u4ee5\u5b9e\u73b0\u76ee\u6807\u68c0\u6d4b\u3002\u591a\u6a21\u6001BEV\u878d\u5408\u901a\u8fc7\u6574\u5408\u8bed\u4e49\u56fe\u50cf\u4fe1\u606f\uff08\u5982BEVFusion\uff09\u63d0\u5347\u4f20\u611f\u5668\u5931\u6548\u65f6\u7684\u9c81\u68d2\u6027\uff0c\u8fd9\u5bf9\u5b89\u5168\u5173\u952e\u573a\u666f\u81f3\u5173\u91cd\u8981\u3002BEVFormer\u5229\u7528\u57fa\u4e8e\u7f51\u683c\u7684\u7a7a\u95f4\u67e5\u8be2\u4e0e\u65f6\u95f4\u67e5\u8be2\uff0c\u5b9e\u73b0LiDAR-\u56fe\u50cf\u878d\u5408\u4e0e\u5e8f\u5217\u63a8\u7406\uff1b\u800cBEVFusion]\u5219\u901a\u8fc7\u5171\u4eabBEV\u8868\u793a\u4fdd\u7559\u8bed\u4e49\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>b) \u95ed\u73af\u9a7e\u9a76<\/strong><br>\u95ed\u73af\u8bc4\u4f30\u6839\u636e\u73af\u5883\u53cd\u9988\u52a8\u6001\u8c03\u6574\u81ea\u8f66\u884c\u4e3a\uff0c\u800c\u5f00\u73af\u8bc4\u4f30\u4ec5\u6d4b\u91cf\u4e0e\u771f\u5b9e\u8f68\u8ff9\u7684\u504f\u5dee\u3002\u5f53\u524d\u591a\u6570\u7aef\u5230\u7aef\u65b9\u6cd5\u805a\u7126\u4e8e\u4f18\u5316\u5f00\u73af\u89c4\u5212\uff0c\u4f46\u5f00\u73af\u6027\u80fd\u65e0\u6cd5\u4fdd\u8bc1\u95ed\u73af\u573a\u666f\u7684\u6709\u6548\u6027\uff0c\u7a81\u663e\u52a8\u6001\u4ea4\u4e92\u8bc4\u4f30\u7684\u5fc5\u8981\u6027\u3002CARLA\u6a21\u62df\u5668\u63d0\u4f9b\u95ed\u73af\u8bc4\u4f30\u73af\u5883\uff0c\u5176\u4e2dBEV\u65b9\u6cd5\u8868\u73b0\u4f18\u5f02\u3002InterFuser\u901a\u8fc7LiDAR\u4e0e\u591a\u89c6\u89d2\u56fe\u50cf\u7684BEV\u6295\u5f71\u589e\u5f3a\u573a\u666f\u7406\u89e3\uff1bReasonNet\u5219\u5728BEV\u5730\u56fe\u4e2d\u96c6\u6210\u65f6\u5e8f\u4e0e\u5168\u5c40\u63a8\u7406\u6a21\u5757\u4ee5\u6355\u6349\u52a8\u6001\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p><strong>c) \u57fa\u4e8eLLM\u7684\u9a7e\u9a76<\/strong><br>LLM\u51ed\u501f\u5176\u4e16\u754c\u77e5\u8bc6\u4e0e\u63a8\u7406\u80fd\u529b\uff0c\u88ab\u7528\u4e8e\u751f\u6210\u4e0a\u4e0b\u6587\u611f\u77e5\u7684\u9a7e\u9a76\u51b3\u7b56\uff0c\u5982DriveLM\u3001DriveVLM\u548cEMMA\u7b49\u5148\u8fdb\u65b9\u6cd5\u3002\u81ea\u7136\u8bed\u8a00\u5904\u7406\u901a\u8fc7\u751f\u6210\u89e3\u91ca\u6027\u6587\u672c\uff08\u5982DriveGPT4\u3001RAG-Driver\u3001DriveMLM\uff09\u63d0\u5347\u6a21\u578b\u53ef\u89e3\u91ca\u6027\u3002\u7136\u800c\uff0cLLM\u7684\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u4ecd\u53d7\u9650\u3002\u73b0\u6709\u65b9\u6cd5\u5982OmniDrive\u901a\u8fc73D\u6807\u8bb0\u5316\u89e3\u7801\u7a7a\u95f4\u4fe1\u606f\uff0cCarLLaVA\u5219\u5229\u7528\u89c6\u89c9\u7f16\u7801\u4fdd\u7559\u7a7a\u95f4\u7279\u5f81\u3002BEV\u5730\u56fe\u56e0\u5176\u9ad8\u6548\u6e05\u6670\u7684\u8868\u793a\u6210\u4e3a\u7406\u60f3\u89e3\u51b3\u65b9\u6848\uff0c\u5982Talk2BEV\u7ed3\u5408BEV\u4e0e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u5b9e\u73b0\u611f\u77e5\u4e0e\u63a8\u7406\u7684\u7edf\u4e00\u3002<\/p>\n\n\n\n<p><strong>BEVDriver\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u56fe2\u5c55\u793a\u4e86BEVDriver\u7684\u6574\u4f53\u67b6\u6784\u3002\u591a\u89c6\u89d2RGB\u56fe\u50cf\u4e0e3D LiDAR\u70b9\u4e91\u901a\u8fc7BEV\u7f16\u7801\u5668\u878d\u5408\u4e3aBEV\u7279\u5f81\u56fe\u3002\u8be5\u7279\u5f81\u56fe\u901a\u8fc7Q-Former\u4e0e\u5bfc\u822a\u6307\u4ee4\u5bf9\u9f50\u540e\u8f93\u5165LLM\uff0cLLM\u8f93\u51fa\u672a\u6765\u8def\u5f84\u70b9\u5e76\u751f\u6210\u9a7e\u9a76\u6307\u4ee4\uff0c\u6700\u7ec8\u7531PID\u63a7\u5236\u5668\u6267\u884c\u3002\u4ee5\u4e0b\u8be6\u7ec6\u63cf\u8ff0\u5404\u6a21\u5757\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"444\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-1-1024x444.png\" alt=\"\" class=\"wp-image-26021\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-1-1024x444.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-1-300x130.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-1-768x333.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-1.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>A. \u611f\u77e5\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u4e3a\u751f\u6210BEV\u7279\u5f81\u5d4c\u5165\uff0c\u6211\u4eec\u57fa\u4e8eInterFuser\u7684\u7f16\u7801\u5668\u67b6\u6784\u5b9e\u73b0BEV\u7f16\u7801\u5668\u3002\u8be5\u67b6\u6784\u91c7\u7528ResNet-50\u5904\u7406\u56fe\u50cf\u6570\u636e\uff0cResNet-18\u5904\u7406LiDAR\u6570\u636e\uff0c\u786e\u4fdd\u9ad8\u6548\u7684\u591a\u6a21\u6001\u7279\u5f81\u63d0\u53d6\u3002\u63d0\u53d6\u7684\u7279\u5f81\u901a\u8fc7\u57fa\u4e8eTransformer\u7684\u7f16\u7801\u5668\u6620\u5c04\u81f3256\u7ef4\u5d4c\u5165\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p>\u89e3\u7801\u5668\u90e8\u5206\u590d\u7528InterFuser\u7684\u4ea4\u901a\u68c0\u6d4b\u5934\u3001\u4ea4\u901a\u706f\u72b6\u6001\u9884\u6d4b\u5934\uff0c\u5e76\u65b0\u589e\u524d\u89c6\u8bed\u4e49\u5206\u5272\u5934\u3002\u8bed\u4e49\u5206\u5272\u5934\u91c7\u7528\u91d1\u5b57\u5854\u573a\u666f\u89e3\u6790\u7f51\u7edc\uff0c\u901a\u8fc7\u591a\u5c3a\u5ea6\u81ea\u9002\u5e94\u5e73\u5747\u6c60\u5316\uff081\u30012\u30013\u30016\u5c3a\u5ea6\uff09\u6355\u83b7\u5168\u5c40\u4e0a\u4e0b\u6587\uff0c\u5e76\u901a\u8fc7\u6295\u5f71\u5c42\u878d\u5408\u6c60\u5316\u7279\u5f81\u4e0e\u8f93\u5165\u7279\u5f81\u4ee5\u4fdd\u7559\u7a7a\u95f4\u7ec6\u8282\uff0c\u6700\u7ec8\u8f93\u51fa\u7cbe\u786e\u7684\u5206\u5272\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>BEV\u7f16\u7801\u5668\u901a\u8fc7\u56db\u7c7b\u635f\u5931\u51fd\u6570\u9884\u8bad\u7ec3\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>L1\u4ea4\u901a\u68c0\u6d4b\u635f\u5931<\/strong>\uff1a\u4f18\u5316\u76ee\u6807\u68c0\u6d4b\u7cbe\u5ea6\uff1b<\/li>\n\n\n\n<li><strong>\u4ea4\u53c9\u71b5\u4ea4\u901a\u706f\u72b6\u6001\u635f\u5931<\/strong>\uff1a\u9884\u6d4b\u4ea4\u901a\u706f\u72b6\u6001\uff1b<\/li>\n\n\n\n<li><strong>\u7126\u70b9\u635f\u5931\uff08Focal Loss\uff09<\/strong>\uff1a\u52a0\u6743\u4ea4\u53c9\u71b5\uff08\u03b1=0.9\uff0c\u03b3=5\uff09\u4f18\u5316\u8bed\u4e49\u5206\u5272\uff1b<\/li>\n\n\n\n<li><strong>\u5bf9\u6bd4\u635f\u5931\uff08Contrastive Loss\uff09<\/strong>\uff1a\u589e\u5f3a\u65f6\u5e8f\u4e00\u81f4\u6027\uff0c\u4f7f\u76f8\u90bb\u5e27\u7279\u5f81\u76f8\u4f3c\uff0c\u8fdc\u8ddd\u79bb\u5e27\u7279\u5f81\u5dee\u5f02\u663e\u8457\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u63a8\u7406\u9636\u6bb5\uff0c\u4ec5\u4fdd\u7559\u7f16\u7801\u5668\u90e8\u5206\uff0c\u751f\u6210\u7d27\u51d1\u7684BEV\u7279\u5f81\u8868\u793a\u3002\u7f16\u7801\u5668\u53c2\u6570\u91cf\u4e3a5.37M\uff0c\u63a8\u7406\u9891\u7387\u8fbe18Hz\u3002<\/p>\n\n\n\n<p><strong>B. \u7aef\u5230\u7aef\u6d41\u7a0b<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u9a7e\u9a76\u6d41\u7a0b\u5305\u542b\u4ee5\u4e0b\u7ec4\u4ef6\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>BEV\u7f16\u7801\u5668<\/strong>\uff1a\u878d\u5408\u591a\u89c6\u89d2\u56fe\u50cf\uff08\u524d\u3001\u5de6\u3001\u53f3\u3001\u540e\u89c6\uff09\u4e0eLiDAR\u70b9\u4e91\uff0c\u751f\u6210BEV\u6f5c\u5728\u7279\u5f81\u3002\u7f16\u7801\u5668\u53ef\u5904\u7406\u6700\u591a40\u5e27\u5386\u53f2\u6570\u636e\u4ee5\u6355\u6349\u65f6\u5e8f\u4f9d\u8d56\u3002<\/li>\n\n\n\n<li><strong>Q-Former\u5bf9\u9f50\u6a21\u5757<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u6539\u8fdb\u7684BLIP-2 Q-Former\uff0c\u5c06BEV\u7279\u5f81\u4e0e\u5bfc\u822a\u6307\u4ee4\u5728\u81ea\u7136\u8bed\u8a00\u6f5c\u5728\u7a7a\u95f4\u5bf9\u9f50\uff1b<\/li>\n\n\n\n<li>\u4f7f\u752832\u4e2a\u53ef\u5b66\u4e60\u67e5\u8be2\u5411\u91cf\uff08768\u7ef4\uff09\uff0c\u5c06BEV\u7279\u5f81\u4e0e\u6307\u4ee4\u8bed\u4e49\u5173\u8054\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>LLM\u63a8\u7406\u6a21\u5757<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7LoRA\u9002\u914d\u5668\uff08\u79e916\uff0c\u4e22\u5f03\u738732.5%\uff09\u8c03\u6574LLM\u53c2\u6570\uff0c\u751f\u6210\u5bfc\u822a\u52a8\u4f5c\u6807\u8bb0\uff1b<\/li>\n\n\n\n<li>GRU\u7f51\u7edc\u57fa\u4e8eLLM\u6700\u540e\u4e00\u5c42\u9690\u85cf\u72b6\u6001\u9884\u6d4b5\u4e2a\u672a\u6765\u8def\u5f84\u70b9\uff1b<\/li>\n\n\n\n<li>2\u5c42MLP\u5224\u65ad\u5bfc\u822a\u6307\u4ee4\u662f\u5426\u5b8c\u6210\uff08\u5e03\u5c14\u6807\u5fd7\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u63a7\u5236\u6267\u884c<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7eb5\u5411\u4e0e\u6a2a\u5411PID\u63a7\u5236\u5668\u5206\u522b\u8c03\u8282\u6cb9\u95e8\/\u5239\u8f66\u4e0e\u8f6c\u5411\uff0c\u8ddf\u8e2a\u9884\u6d4b\u8def\u5f84\u70b9<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>A. \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u91c7\u7528LLM\u6a21\u578bLlama-7b\u548c\u6307\u4ee4\u5fae\u8c03\u6a21\u578bLlama-3.1 8B-Instruct\uff0c\u5c06BEVDriver\u4e0eLMDrive\u548cAD-H\u8fdb\u884c\u95ed\u73af\u8bc4\u4f30\u5bf9\u6bd4\u3002\u4e3b\u8981\u5b9e\u9a8c\u4e2d\uff0c\u9884\u8bad\u7ec3\u7684BEV\u7f16\u7801\u5668\u53c2\u6570\u4fdd\u6301\u51bb\u7ed3\u3002\u8f93\u5165\u5e27\u91c7\u6837\u7387\u4e3a1\uff0cPID\u63a7\u5236\u5668\u7684\u79ef\u5206\u8bef\u5dee\u9879\u8bbe\u4e3a20\u4ee5\u589e\u5f3a\u63a7\u5236\u7a33\u5b9a\u6027\u3002\u6240\u6709\u5b9e\u9a8c\u5747\u5728\u6bcf\u573a\u666f\u91cd\u590d3\u6b21\u53d6\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n<p><strong>B. \u6570\u636e\u96c6\u4e0e\u57fa\u51c6\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n<p>a)&nbsp;<strong>LMDrive\u6570\u636e\u96c6<\/strong>\uff1a\u4f7f\u7528LMDrive\u63d0\u4f9b\u7684\u6570\u636e\u96c6\uff0c\u5305\u542b15k\u6761\u5e8f\u5217\uff0c\u6db5\u76d6CARLA 8\u4e2a\u57ce\u9547\uff08Town 1-7\u300110\uff09\u7684\u8def\u7ebf\u6570\u636e\uff0c\u91c7\u6837\u9891\u7387\u4e3a10Hz\uff0c\u5305\u542b\u5bfc\u822a\u6307\u4ee4\u3001\u63a7\u5236\u4fe1\u53f7\u3001\u591a\u89c6\u89d2RGB\u56fe\u50cf\u3001LiDAR\u6570\u636e\u53ca\u5143\u6570\u636e\uff08\u5982\u4ea4\u901a\u706f\u72b6\u6001\u3001\u5730\u9762\u771f\u5b9e\u8def\u5f84\u70b9\uff09\u3002\u8bad\u7ec3\u6570\u636e\u5305\u542b\u6240\u67098\u4e2a\u57ce\u9547\uff0c\u9a8c\u8bc1\u96c6\u4fdd\u75593\u79cd\u5929\u6c14-\u65f6\u6bb5\u6761\u4ef6\uff08soft rain\u5348\u95f4\u3001soft rain\u9ec4\u660f\u3001hard rain\u591c\u95f4\uff09\u3002<br>b)&nbsp;<strong>BEVDriver\u8bed\u4e49\u6570\u636e\u96c6<\/strong>\uff1a\u5728LMDrive\u76848\u4e2a\u57ce\u9547\u4e2d\u989d\u5916\u91c7\u96c62k\u6761\u5e8f\u5217\uff0c\u5305\u542b\u524d\u3001\u5de6\u3001\u53f3\u89c6\u89d2\u7684\u8bed\u4e49\u5206\u5272\u6807\u6ce8\uff08\u6db5\u76d6\u884c\u4eba\u3001\u8f66\u8f86\u3001\u9053\u8def\u3001\u4ea4\u901a\u6807\u5fd7\u7b49CARLA\u8bed\u4e49\u7c7b\u522b\uff09\u3002\u6570\u636e\u96c6\u4e0e\u751f\u6210\u4ee3\u7801\u5c06\u516c\u5f00\u3002<br>c)&nbsp;<strong>CARLA\u57fa\u51c6\u6d4b\u8bd5<\/strong>\uff1aCARLA\u63d0\u4f9b\u95ed\u73af\u57fa\u51c6\u6d4b\u8bd5Leaderboard 1.0\u3002LangAuto\u57fa\u51c6\u5c06\u5176\u9002\u914d\u4e3aLLM\u8bc4\u4f30\uff0c\u5c067\u79cd\u79bb\u6563\u5bfc\u822a\u6307\u4ee4\u6620\u5c04\u4e3a\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u3002\u6d4b\u8bd5\u573a\u666f\u5305\u542b\u591a\u6837\u7684\u73af\u5883\u3001\u5929\u6c14\u3001\u65f6\u6bb5\u53ca\u590d\u6742\u4ea4\u4e92\uff08\u5982\u4ea4\u53c9\u8def\u53e3\u3001\u884c\u4eba\/\u9a91\u884c\u8005\u7a81\u7136\u7a7f\u884c\u3001\u591a\u8f66\u9053\u73af\u5c9b\uff09\u3002\u8def\u7ebf\u5206\u4e3a\u77ed\u7a0b\uff08&lt;150m\uff09\u3001\u4e2d\u7a0b\uff08150-500m\uff09\u3001\u957f\u7a0b\uff08&gt;500m\uff09\uff0c\u5e76\u63d2\u5165\u4e0d\u53ef\u884c\u4efb\u52a1\u4ee5\u6d4b\u8bd5\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p><strong>C. \u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u95ed\u73af\u89c4\u5212\u91c7\u7528\u4e09\u9879\u6307\u6807\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09<\/strong>\uff1a\u8def\u7ebf\u5b8c\u6210\u7387\uff08RC\uff09\u4e0e\u8fdd\u89c4\u5f97\u5206\uff08IS\uff0c\u542b\u78b0\u649e\u3001\u95ef\u7ea2\u706f\u7b49\uff09\u7684\u4e58\u79ef\u3002<\/li>\n\n\n\n<li><strong>\u5f00\u653e\u73af\u8def\u57fa\u7ebf<\/strong>\uff1a\u4f7f\u7528\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08ADE\uff09\u548c\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\uff08FDE\uff09\uff0c\u8ba1\u7b97\u9884\u6d4b\u8def\u5f84\u70b9\u4e0e\u771f\u5b9e\u503c\u7684L2\u8ddd\u79bb\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>D. \u8bad\u7ec3\u7ec6\u8282<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>LLM\u8bad\u7ec3<\/strong>\uff1a\u4f7f\u7528AdamW\u4f18\u5316\u5668\uff08\u6743\u91cd\u8870\u51cf0.06\uff09\uff0c\u4f59\u5f26\u5b66\u4e60\u7387\u8c03\u5ea6\u5668\uff08\u521d\u59cb\u5b66\u4e60\u73871e-4\uff0c\u6700\u5c0f1e-5\uff0c\u9884\u70ed\u6b65\u65702000\uff09\u3002Llama-7b\u548cLlama-3.1\u6a21\u578b\u8bad\u7ec315\u8f6e\uff0872\u5c0f\u65f6\uff09\uff0c8\u5757Nvidia A100 GPU\uff0c\u6279\u91cf\u5927\u5c0f4\u3002<\/li>\n\n\n\n<li><strong>BEV\u7f16\u7801\u5668\u8bad\u7ec3<\/strong>\uff1a8\u5757Nvidia A40 GPU\uff0c\u6279\u91cf\u5927\u5c0f16\uff0cAdamW\u4f18\u5316\u5668\uff08\u5b66\u4e60\u73875e-4\uff0c\u6743\u91cd\u8870\u51cf0.05\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>E. \u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u56fe3\u5c55\u793aBEVDriver\u5728CARLA\u4e2d\u7684\u5bfc\u822a\u793a\u4f8b\uff0c\u6a21\u578b\u80fd\u5904\u7406\u590d\u6742\u573a\u666f\uff08\u5982\u73af\u5c9b\uff09\u5e76\u63d0\u524d\u89c4\u5212\u8f66\u9053\u53d8\u6362\u3002\u56fe4\u663e\u793a\u8bed\u4e49\u5206\u5272\u4e0eBEV\u68c0\u6d4b\u7ed3\u679c\uff0c\u6a21\u578b\u80fd\u51c6\u786e\u8bc6\u522b\u8fdc\u8ddd\u79bb\u884c\u4eba\/\u4ea4\u901a\u6807\u5fd7\uff0c\u4f46\u5bf9\u9053\u8def\u7ec6\u8282\uff08\u5982\u6591\u9a6c\u7ebf\uff09\u5b58\u5728\u5c40\u9650\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"592\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-2-1024x592.png\" alt=\"\" class=\"wp-image-26022\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-2-1024x592.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-2-300x173.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-2-768x444.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-2.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"533\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-3-1024x533.png\" alt=\"\" class=\"wp-image-26023\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-3-1024x533.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-3-300x156.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-3-768x400.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-3.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>F. \u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>a)&nbsp;<strong>\u95ed\u73af\u89c4\u5212<\/strong>\uff1a\u8868I\u5bf9\u6bd4BEVDriver\u4e0e\u73b0\u6709\u65b9\u6cd5\u5728LangAuto\u57fa\u51c6\u7684\u8868\u73b0\u3002BEVDriver\u5728\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09\u548c\u8def\u7ebf\u5b8c\u6210\u7387\uff08RC\uff09\u4e0a\u4f18\u4e8e\u6700\u5148\u8fdb\u65b9\u6cd5\u3002\u4f8b\u5982\uff0c\u5728LangAuto\u957f\u7a0b\u6d4b\u8bd5\u4e2d\uff0cLlama-7b\u7248\u672cDS\u8f83AD-H\u63d0\u534711.1%\uff0cRC\u63d0\u534712.2%\u3002<br>b)&nbsp;<strong>\u5f00\u73af\u89c4\u5212<\/strong>\uff1aBEVDriver\u5728ADE\u548cFDE\u6307\u6807\u4e0a\u8868\u73b0\u6700\u4f73\uff08Llama-7b\uff1aADE 0.04\uff0cFDE 0.07\uff09\uff0c\u4f18\u4e8eLMDrive\u7684LLaVA-7B\uff08ADE 0.09\uff0cFDE 0.18\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"299\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-4-1024x299.png\" alt=\"\" class=\"wp-image-26024\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-4-1024x299.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-4-300x88.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-4-768x224.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"942\" height=\"274\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-5.png\" alt=\"\" class=\"wp-image-26025\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-5.png 942w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-5-300x87.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-5-768x223.png 768w\" sizes=\"(max-width: 942px) 100vw, 942px\" \/><\/figure>\n\n\n\n<p><strong>G. \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>a)&nbsp;<strong>Town 5\u6cdb\u5316\u6d4b\u8bd5<\/strong>\uff1a\u5728\u672a\u8bad\u7ec3\u7684CARLA Town 5\u957f\u7a0b\u6d4b\u8bd5\u4e2d\uff0cBEVDriver\uff08Llama-7b\uff09DS\u4e3a28.4%\uff0cRC\u4e3a38.9%\uff0c\u4f18\u4e8e\u5176\u4ed6\u6a21\u578b\u3002<br>b)&nbsp;<strong>\u7aef\u5230\u7aef\u8bad\u7ec3<\/strong>\uff1a\u89e3\u51bbBEV\u7f16\u7801\u5668\u540e\uff0cRC\u63d0\u53475%\uff0c\u4f46IS\u4e0b\u964d\uff08\u8868III\uff09\uff0c\u53ef\u80fd\u56e0\u4ea4\u901a\u706f\u72b6\u6001\u76d1\u7763\u7f3a\u5931\u5bfc\u81f4\u521d\u671f\u6027\u80fd\u4e0b\u964d\u3002<br>c)&nbsp;<strong>\u65e0\u8bef\u5bfc\u6307\u4ee4\u6d4b\u8bd5<\/strong>\uff1a\u79fb\u9664\u8bef\u5bfc\u6307\u4ee4\u540e\uff0cBEVDriver DS\u964d\u81f370.2%\uff08\u8868IV\uff09\uff0c\u8868\u660e\u9891\u7e41\u6307\u4ee4\u53ef\u63d0\u5347\u6a21\u578b\u8868\u73b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"898\" height=\"374\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/image-6.png\" alt=\"\" class=\"wp-image-26026\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-6.png 898w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-6-300x125.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/image-6-768x320.png 768w\" sizes=\"(max-width: 898px) 100vw, 898px\" 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