{"id":27014,"date":"2025-03-31T17:34:03","date_gmt":"2025-03-31T09:34:03","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27014"},"modified":"2025-03-31T17:34:03","modified_gmt":"2025-03-31T09:34:03","slug":"2025-03-31-%e4%b8%8a%e4%ba%a4%e6%9c%80%e6%96%b0chatbev%ef%bc%81vlm%e4%bb%8ebev%e9%97%ae%e7%ad%94%e5%88%b0%e5%9c%ba%e6%99%af%e7%94%9f%e6%88%90%ef%bc%8c%e9%87%8d%e6%96%b0%e7%90%86%e8%a7%a3%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/31\/27014\/","title":{"rendered":"2025-03-31 \u4e0a\u4ea4\u6700\u65b0ChatBEV\uff01VLM\u4eceBEV\u95ee\u7b54\u5230\u573a\u666f\u751f\u6210\uff0c\u91cd\u65b0\u7406\u89e3\u81ea\u52a8\u9a7e\u9a76\u4e0a\u5e1d\u89c6\u89d2~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1889842157684233822\">https:\/\/zhuanlan.zhihu.com\/p\/1889842157684233822<\/a><\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u4e0e\u667a\u80fd\u4ea4\u901a\u9886\u57df\uff0c\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=BEV%E5%9C%B0%E5%9B%BE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV\u5730\u56fe<\/a>\u7684\u7406\u89e3\u662f\u5b9e\u73b0\u5b89\u5168\u51b3\u7b56\u7684\u6838\u5fc3\u6311\u6218\u4e4b\u4e00\u3002\u672c\u6587\u63d0\u51fa\u4e86BEV\u89c6\u89c9\u95ee\u7b54\u57fa\u51c6 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=ChatBEV-QA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ChatBEV-QA<\/a>\uff0c\u7a81\u7834\u4f20\u7edf\u6570\u636e\u96c6\u4efb\u52a1\u5355\u4e00\u3001\u89c4\u6a21\u6709\u9650\u7684\u74f6\u9888\uff0c\u8986\u76d6\u5168\u5c40\u573a\u666f\u3001\u8f66\u8f86-\u8f66\u9053\u4ea4\u4e92\u3001\u8f66\u8f86-\u8f66\u8f86\u4ea4\u4e92\u4e09\u5927\u7ef4\u5ea6\u3002\u6b64\u5916\uff0c\u672c\u6587\u5fae\u8c03\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=%E8%A7%86%E8%A7%89%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u89c9\u8bed\u8a00\u6a21\u578b<\/a> ChatBEV \u5728\u591a\u4efb\u52a1\u4e2d\u8868\u73b0\u5353\u8d8a\uff0c\u5728\u5168\u5c40\u7406\u89e3\u3001\u8f66\u8f86-\u8f66\u9053\u4ea4\u4e92\u4ee5\u53ca\u8f66\u8f86-\u8f66\u8f86\u4ea4\u4e92\u7b49\u8bf8\u591a\u4efb\u52a1\u4e0a\u5747\u5b9e\u73b0\u4e8680%\u7684\u4ee5\u4e0a\u7684\u7cbe\u5ea6\uff0c\u663e\u8457\u8d85\u8d8a\u4e86\u73b0\u6709\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u4ea4\u901a\u573a\u666f\u7406\u89e3\u662f\u4e00\u9879\u57fa\u672c\u4efb\u52a1\uff0c\u65e8\u5728\u611f\u77e5\u548c\u89e3\u91ca\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u5468\u56f4\u73af\u5883\u3002\u5b83\u5728\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u548c\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u901a\u8fc7\u5b9e\u73b0\u667a\u80fd\u7684\u51b3\u7b56\u5e76\u786e\u4fdd\u8f66\u8f86\u5728\u73b0\u5b9e\u6761\u4ef6\u4e0b\u5b89\u5168\u9ad8\u6548\u5730\u8fd0\u884c\uff0c\u4e3a\u4e0b\u6e38\u4efb\u52a1\u5960\u5b9a\u57fa\u7840\u3002\u4f8b\u5982\uff0c\u5728\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u4e2d\uff0c\u4ea4\u901a\u573a\u666f\u7406\u89e3\u901a\u8fc7\u5206\u6790\u8f66\u9053\u7ed3\u6784\u3001\u4ea4\u901a\u72b6\u51b5\u548c\u8f66\u8f86\u76f8\u4e92\u4f5c\u7528\u6765\u4f18\u5316\u4ea4\u901a\u6d41\u91cf\u5e76\u9632\u6b62\u4e8b\u6545\u53d1\u751f\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u65b9\u9762\uff0c\u5b83\u589e\u5f3a\u4e86\u5b9e\u65f6\u8fd0\u52a8\u89c4\u5212\u4ee5\u5b9e\u73b0\u66f4\u5b89\u5168\u7684\u5bfc\u822a\uff0c\u5e76\u901a\u8fc7\u60c5\u5883\u611f\u77e5\u5f15\u5bfc\u6539\u8fdb\u4e86\u573a\u666f\u6a21\u62df\uff0c\u786e\u4fdd\u7ed3\u679c\u66f4\u52a0\u7cbe\u786e\u548c\u53ef\u63a7\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u89c6\u89c9\u8bed\u8a00\u6a21\u578b (VLM) \u7684\u53d1\u5c55\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u5b83\u4eec\u5728\u4ea4\u901a\u573a\u666f\u7406\u89e3\u4e2d\u7684\u5e94\u7528\u3002\u5229\u7528\u5176\u5353\u8d8a\u7684\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\uff0cVLM \u80fd\u591f\u6bd4\u4f20\u7edf\u7684\u3001\u7279\u5b9a\u4e8e\u4efb\u52a1\u7684\u65b9\u6cd5\u66f4\u5168\u9762\u5730\u7406\u89e3\u573a\u666f\uff0c\u800c\u540e\u8005\u5f80\u5f80\u7f3a\u4e4f\u6574\u4f53\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u8fd9\u4e00\u7814\u7a76\u9886\u57df\u4ecd\u5904\u4e8e\u65e9\u671f\u9636\u6bb5\uff0c\u5145\u5206\u5229\u7528 VLM \u8fdb\u884c\u573a\u666f\u7406\u89e3\u9700\u8981\u8fdb\u4e00\u6b65\u7814\u7a76\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u66f4\u597d\u5730\u5229\u7528 VLM \u7684\u529f\u80fd\u5e76\u5c06\u5176\u65e0\u7f1d\u5730\u878d\u5165\u5230\u5404\u79cd\u4efb\u52a1\u4e2d\uff0c\u672c\u6587\u5de5\u4f5c\u4e13\u6ce8\u4e8e\u4f7f\u7528BEV\u5730\u56fe\u8fdb\u884c\u4ea4\u901a\u573a\u666f\u7406\u89e3\uff0c\u8fd9\u6709\u4e24\u4e2a\u4e3b\u8981\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>BEV \u56fe\u50cf\u5e7f\u6cdb\u5e94\u7528\u4e8e\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u6216\u81ea\u52a8\u9a7e\u9a76\uff0c\u56e0\u4e3a\u5b83\u4eec\u63d0\u4f9b\u4e86\u6e05\u6670\u3001\u76f4\u89c2\u7684\u73af\u5883\u8868\u5f81\uff0c\u5e76\u4e14\u53ef\u4ee5\u8f7b\u677e\u5730\u4ece\u591a\u6a21\u6001\u611f\u77e5\u8f93\u5165\u4e2d\u5f97\u51fa\uff0c\u4ece\u800c\u786e\u4fdd\u4e0e\u4e0b\u6e38\u5e94\u7528\u7a0b\u5e8f\u7684\u987a\u5229\u96c6\u6210<\/li>\n\n\n\n<li>\u76f4\u63a5\u4f7f\u7528 BEV \u53ef\u8ba9VLM\u5145\u5206\u5229\u7528\u5176\u5728\u63a8\u7406\u65b9\u9762\u7684\u4f18\u52bf\uff0c\u540c\u65f6\u51cf\u8f7b\u5176\u5728\u590d\u6742\u611f\u77e5\u5904\u7406\u65b9\u9762\u7684\u5f31\u70b9\uff0c\u56e0\u4e3a BEV \u5730\u56fe\u53ef\u4ee5\u72ec\u7acb\u4e8e\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u83b7\u5f97\u3002\u8fd9\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u8ba1\u7b97\u6548\u7387\uff0c\u800c\u4e14\u8fd8\u63d0\u9ad8\u4e86\u590d\u6742\u4ea4\u901a\u73af\u5883\u4e2d\u7684\u51c6\u786e\u6027\uff0c\u4f7fVLM\u66f4\u6709\u6548\u5730\u5e94\u7528\u4e8e\u5b9e\u9645\u5e94\u7528\u573a\u666f<\/li>\n<\/ul>\n\n\n\n<p>\u7136\u800c\uff0c\u5bf9 BEV \u5730\u56fe\u7406\u89e3\u7684\u7814\u7a76\u4e00\u76f4\u53d7\u5230\u9650\u5236\uff0c\u4e3b\u8981\u662f\u7531\u4e8e\u7f3a\u4e4f\u9ad8\u8d28\u91cf\u7684 BEV \u5730\u56fe\u6ce8\u91ca\u6570\u636e\u3002\u56e0\u6b64\uff0c\u9488\u5bf9\u76ee\u524d\u7684\u6311\u6218\uff0c\u6211\u4eec\u5728\u6587\u4e2d\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3aChatBEV-QA\u7684Benchmark\u3002\u8be5Benchmark\u662f\u4e00\u4e2a\u57fa\u4e8e BEV \u5730\u56fe\u7684\u65b0\u578b\u573a\u666f\u7406\u89e3VQA\u6570\u636e\u96c6\uff0c\u65e8\u5728\u6db5\u76d6\u5e7f\u6cdb\u7684\u573a\u666f\u7406\u89e3\u4efb\u52a1\u3002\u5728\u6b64\u6570\u636e\u96c6\u7684\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u5fae\u8c03\u4e86\u4e00\u4e2a\u540d\u4e3aChatBEV\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u4ee5\u8fdb\u884c\u5730\u56fe\u7406\u89e3\uff0c\u4ece\u800c\u5b9e\u73b0\u8bed\u8a00\u9a71\u52a8\u7684\u4e0a\u4e0b\u6587\u51c6\u786e\u548c\u903b\u8f91\u4e00\u81f4\u7684\u4ea4\u901a\u573a\u666f\u751f\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-2f93a4b8a1f8df76bf752ae0577d1f7e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2503.13938%23\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2503.13938#\/<\/a>\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1889842157684233822_1\">ChatBEV-QA\u6570\u636e\u96c6<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_2\">\u81ea\u52a8\u5316\u6570\u636e\u6784\u5efa\u7ba1\u9053<\/h3>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u4e09\u6b65\u81ea\u52a8\u5316\u6d41\u7a0b\uff0c\u4ece <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=nuPlan+%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuPlan \u6570\u636e\u96c6<\/a><\/p>\n\n\n\n<p>\u751f\u6210 ChatBEV-QA \u6570\u636e\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u9996\u5148\uff0c\u6211\u4eec\u8bbe\u8ba1\u5404\u79cd\u95ee\u9898\u6765\u6db5\u76d6\u5168\u9762\u7684\u7406\u89e3\u4efb\u52a1\u3002\u7136\u540e\uff0c\u6211\u4eec\u63d0\u53d6\u5fc5\u8981\u7684\u6ce8\u91ca\u5e76\u751f\u6210\u4fe1\u606f\u4e30\u5bcc\u7684 BEV \u56fe\u3002\u6700\u540e\uff0cVQA \u751f\u6210\u5668\u6839\u636e\u95ee\u9898\u521b\u5efaVQA\u6570\u636e\uff0c\u6807\u6ce8\u548cBEV\u5730\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-52156dff771005a6d737fd790206f0f8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_3\">\u7b2c\u4e00\u6b65\uff1a\u95ee\u9898\u8bbe\u8ba1<\/h3>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u5efa\u8bae\u4ece\u4e09\u4e2a\u65b9\u9762\u8fdb\u884c\u5168\u9762\u4e86\u89e3\uff0c\u5e76\u636e\u6b64\u8fdb\u4e00\u6b65\u53d1\u5c55\u516d\u79cd\u4e0d\u540c\u7c7b\u578b\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5168\u5c40\u7406\u89e3\uff1a\u4e86\u89e3\u66f4\u5e7f\u6cdb\u7684\u73af\u5883\u80cc\u666f\u5bf9\u4e8e\u9884\u6d4b\u8f66\u8f86\u884c\u4e3a\u81f3\u5173\u91cd\u8981\u3002\u4e0d\u540c\u7684\u573a\u666f\u4f1a\u4ea7\u751f\u4e0d\u540c\u7684\u8fd0\u52a8\u6a21\u5f0f\uff0c\u4f8b\u5982\uff0c\u5341\u5b57\u8def\u53e3\u7684\u8f66\u8f86\u66f4\u6709\u53ef\u80fd\u8f6c\u5f2f\uff0c\u800c\u505c\u8f66\u573a\u7684\u8f66\u8f86\u5219\u503e\u5411\u4e8e\u4fdd\u6301\u9759\u6b62\u3002\u56e0\u6b64\u6211\u4eec\u5f15\u5165\u4e86area type\u548clane type\u4e24\u79cd\u5173\u952e\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u8f66\u8f86\u4e0e\u8f66\u9053\u7684\u76f8\u4e92\u4f5c\u7528\uff1a\u6700\u8fd1\u7684\u7814\u7a76\u7ecf\u5e38\u5ffd\u89c6\u8f66\u8f86\u4e0e\u8f66\u9053\u7684\u76f8\u4e92\u4f5c\u7528\uff0c\u800c\u8fd9\u5bf9\u4e8e\u54cd\u5e94\u9053\u8def\u7279\u5f81\u3001\u4ea4\u901a\u89c4\u5219\u548c\u73af\u5883\u56e0\u7d20\u7684\u81ea\u9002\u5e94\u5bfc\u822a\u81f3\u5173\u91cd\u8981\u3002\u56e0\u6b64\u6211\u4eec\u5f15\u5165\u4e86location\u4ee5\u53canavigation\u4e24\u4e2a\u91cd\u8981\u7684\u89d2\u5ea6\u3002<\/li>\n\n\n\n<li>\u8f66\u8f86\u4e0e\u8f66\u8f86\u4ea4\u4e92\uff1a\u8f66\u8f86\u4e0e\u8f66\u8f86\u4ea4\u4e92\u5bf9\u4e8e\u7a7a\u95f4\u5173\u7cfb\u5efa\u6a21\u81f3\u5173\u91cd\u8981\uff0c\u76f4\u63a5\u5f71\u54cd\u884c\u4e3a\u534f\u8c03\u3002\u56e0\u6b64\u5f15\u5165\u4e86existence\u4ee5\u53carelative orientation\u4e24\u7c7b\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u4e9b\u95ee\u9898\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7ed3\u6784\u5316\u7684\u6846\u67b6\uff0c\u7528\u4e8e\u7406\u89e3\u573a\u666f\u4e2d\u8f66\u8f86\u884c\u4e3a\u548c\u4ea4\u4e92\u7684\u5404\u4e2a\u7ef4\u5ea6\u3002\u4e3a\u4e86\u589e\u52a0\u591a\u6837\u6027\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u4e3a\u6bcf\u79cd\u95ee\u9898\u7c7b\u578b\u8bbe\u8ba1\u4e86\u591a\u4e2a\u6a21\u677f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_4\">\u7b2c\u4e8c\u6b65\uff1a\u6570\u636e\u6536\u96c6\u548c\u6807\u6ce8<\/h3>\n\n\n\n<p>nuPlan \u7684\u539f\u59cb\u6ce8\u91ca\u6db5\u76d6\u4e86\u8f66\u8f86\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u8f66\u9053\u7ec6\u8282\u7b49\u57fa\u672c\u4fe1\u606f\u3002\u6211\u4eec\u589e\u5f3a\u4e86\u6570\u636e\u96c6\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u6ce8\u91ca\u5668\uff0c\u8be5\u6ce8\u91ca\u5668\u5177\u6709\u5e7f\u6cdb\u7684\u57fa\u4e8e\u89c4\u5219\u7684\u51fd\u6570\uff0c\u53ef\u4ee5\u63d0\u53d6\u9ad8\u7ea7\u8bed\u4e49\u4fe1\u606f\u5e76\u9002\u7528\u4e8e\u8bbe\u8ba1\u7684\u95ee\u9898\u3002\u6211\u4eec\u901a\u8fc7\u8fed\u4ee3\u7684\u4eba\u5de5\u53c2\u4e0e\u5ba1\u67e5\u8fc7\u7a0b\u4e25\u683c\u5b8c\u5584\u51fd\u6570\u7684\u8bbe\u8ba1\uff0c\u786e\u4fdd\u5176\u8f93\u51fa\u4e0e\u4eba\u7c7b\u5224\u65ad\u7d27\u5bc6\u4e00\u81f4\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>area type\u4ee3\u8868\u6307\u793a\u8f66\u8f86\u5f53\u524d\u6240\u5904\u7684\u533a\u57df\u7c7b\u578b\uff1b<\/li>\n\n\n\n<li>lane type\u6307\u5b9a\u8f66\u8f86\u5f53\u524d\u6240\u5728\u8f66\u9053\u7684\u7c7b\u578b\uff1b<\/li>\n\n\n\n<li>trajectory\u63cf\u8ff0\u8f66\u8f86\u672a\u6765 50 \u4e2a\u65f6\u95f4\u6233\u7684\u8f68\u8ff9\u5bf9\u5e94\u7684\u7c7b\u522b\uff1b<\/li>\n\n\n\n<li>trajectory lane\u6355\u83b7\u63a5\u4e0b\u6765 50 \u5e27\u4e2d\u4e0e\u8f68\u8ff9\u5bf9\u5e94\u7684\u6240\u6709\u8f66\u9053 ID\uff1b<\/li>\n\n\n\n<li>relative cars\u5b58\u50a8\u8f66\u8f86\u5468\u56f4\u56db\u4e2a\u65b9\u5411\u7684\u5176\u4ed6\u8f66\u8f86\u7684 ID\uff1b<\/li>\n\n\n\n<li>distance\u8ba1\u7b97\u5f53\u524d\u8f66\u8f86\u4e0e\u573a\u666f\u4e2d\u6240\u6709\u5176\u4ed6\u8f66\u8f86\u4e4b\u95f4\u7684\u8ddd\u79bb\uff1b<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_5\">\u7b2c\u4e09\u6b65\uff1aVQA\u5bf9\u751f\u6210<\/h3>\n\n\n\n<p>\u6709\u4e86\u95ee\u9898\u6a21\u677f\u548c\u6ce8\u91ca\uff0c\u5c31\u53ef\u4ee5\u901a\u8fc7 VQA \u751f\u6210\u5668\u751f\u6210\u95ee\u9898\u7b54\u6848\u5bf9\u3002\u5bf9\u4e8e\u8f66\u9053\u7c7b\u578b\u548c\u533a\u57df\u7c7b\u578b\u7684\u95ee\u9898\uff0c\u751f\u6210\u5668\u4f1a\u968f\u673a\u9009\u62e9\u4e00\u4e2a\u6a21\u677f\u5e76\u4f7f\u7528\u76f8\u5e94\u7684\u6ce8\u91ca\u6587\u672c\u4f5c\u4e3a\u7b54\u6848\u3002\u5bf9\u4e8e\u4f4d\u7f6e\u548c\u5bfc\u822a\u95ee\u9898\uff0c\u6211\u4eec\u901a\u8fc7\u63d0\u4f9b\u591a\u9879\u9009\u62e9\u6765\u7b80\u5316\u95ee\u9898\u3002\u539f\u59cb nuPlan \u6570\u636e\u96c6\u5448\u73b0\u957f\u5c3e\u5206\u5e03\uff0c\u4f8b\u5982\u76f4\u8f66\u9053\u4e0a\u6709\u5927\u91cf\u8f66\u8f86\uff0c\u800c\u8f6c\u5f2f\u8f66\u9053\u4e0a\u8f66\u8f86\u76f8\u5bf9\u8f83\u5c11\uff0c\u5bfc\u81f4\u7b54\u6848\u7c7b\u522b\u5206\u5e03\u4e0d\u5e73\u8861\uff0c\u8fd9\u53ef\u80fd\u4f1a\u4f7f\u6a21\u578b\u6027\u80fd\u504f\u5411\u66f4\u5e38\u89c1\u7684\u573a\u666f\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u968f\u673a\u6b20\u91c7\u6837\u6280\u672f\uff0c\u5728\u6570\u636e\u96c6\u6784\u5efa\u8fc7\u7a0b\u4e2d\u6709\u9009\u62e9\u5730\u4ece\u591a\u6570\u7c7b\u522b\u4e2d\u5220\u9664\u4e00\u5b9a\u6bd4\u4f8b\u7684\u6837\u672c\uff0c\u4ece\u800c\u4fc3\u8fdb\u66f4\u5747\u8861\u7684\u5206\u5e03\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_6\">\u6570\u636e\u96c6\u7edf\u8ba1\u548c\u6307\u6807<\/h3>\n\n\n\n<p>\u7531\u4e8e\u6574\u4e2a nuPlan \u6570\u636e\u96c6\u975e\u5e38\u5927\uff0c\u6211\u4eec\u4ece nuPlan-mini \u62c6\u5206\u4e2d\u6784\u5efa\u6570\u636e\uff0c\u4ece\u800c\u63d0\u4f9b\u66f4\u5c0f\u3001\u66f4\u6613\u4e8e\u7ba1\u7406\u7684\u5b50\u96c6\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684 ChatBEV-QA \u5305\u542b 25331 \u5f20 BEV \u56fe\u50cf\u7684 137818 \u4e2a\u95ee\u7b54\u5bf9\uff0c\u5176\u4e2d 21634 \u5f20 BEV \u56fe\u50cf\u4e2d\u6709 116112 \u4e2a\u95ee\u9898\u7528\u4e8e\u8bad\u7ec3\uff0c3697 \u5f20 BEV \u56fe\u50cf\u4e2d\u6709 21706 \u4e2a\u95ee\u9898\u7528\u4e8e\u6d4b\u8bd5\uff0c\u5e73\u5747\u6bcf\u5f20\u56fe\u50cf\u7ea6\u6709 5.44 \u4e2a\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86\u8bad\u7ec3\u96c6\u4e0a\u6bcf\u4e2a\u95ee\u9898\u7684\u95ee\u9898\u7c7b\u578b\u548c\u7b54\u6848\u7684\u5206\u5e03\uff0c\u51f8\u663e\u4e86 ChatBEV-QA \u7684\u5747\u8861\u7ec4\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-1349495ecca5c32cad760d30a0c80cc6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7531\u4e8e\u6211\u4eec\u8bbe\u8ba1\u7684\u95ee\u9898\u7684\u7b54\u6848\u5c5e\u4e8e\u7279\u5b9a\u96c6\u5408\uff0c\u56e0\u6b64\u6211\u4eec\u4f7f\u7528 top-1 \u51c6\u786e\u7387\u4f5c\u4e3a\u8bc4\u4f30\u6307\u6807\uff0c\u8fd9\u4e0e\u4ee5\u524d\u7684 VQA \u5de5\u4f5c\u4e2d\u7684\u5e38\u89c1\u505a\u6cd5\u4e00\u81f4\u3002\u6211\u4eec\u8fd8\u5206\u522b\u8bc4\u4f30\u4e86\u4e0d\u540c\u95ee\u9898\u7c7b\u578b\u7684\u8868\u73b0\uff0c\u4ece\u800c\u53ef\u4ee5\u66f4\u8be6\u7ec6\u5730\u4e86\u89e3\u6a21\u578b\u5904\u7406\u573a\u666f\u7406\u89e3\u5404\u4e2a\u65b9\u9762\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_7\">ChatBEV\u7cfb\u5217\u6a21\u578b<\/h3>\n\n\n\n<p>\u9664\u4e86\u63d0\u51fa\u7684\u6570\u636e\u96c6\u4ee5\u5916\uff0c\u6211\u4eec\u4e5f\u63d0\u4f9b\u4e86\u6211\u4eec\u7684\u57fa\u7ebf\u6a21\u578b\u3002\u7531\u4e8e BEV \u8868\u793a\u56fa\u6709\u7684\u7d27\u51d1\u6027\uff0c\u5176\u5305\u542b\u4e0d\u540c\u4e8e\u81ea\u7136\u56fe\u50cf\u7684\u7279\u5b9a\u7ed3\u6784\u548c\u4e0e\u4efb\u52a1\u76f8\u5173\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u56e0\u6b64\u73b0\u6709\u7684 VLM \u76f4\u63a5\u5e94\u7528\u4e8e\u6b64\u4efb\u52a1\u88ab\u8bc1\u660e\u662f\u4e0d\u591f\u7684\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u901a\u8fc7\u4f7f\u7528 LoRA \u7684\u89c6\u89c9\u6307\u4ee4\u8c03\u6574\u5bf9\u51e0\u4e2a\u5148\u8fdb\u7684 VLM \u8fdb\u884c\u4e86\u5fae\u8c03\uff0c\u5e76\u6839\u636e BEV \u5730\u56fe\u7406\u89e3\u7684\u72ec\u7279\u9700\u6c42\u5bf9\u5176\u8fdb\u884c\u4e86\u5b9a\u5236\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1889842157684233822_8\">\u8bed\u8a00\u9a71\u52a8\u573a\u666f\u751f\u6210<\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e\u6269\u6563\u7684\u67b6\u6784\uff0c\u5176\u4e2d ChatBEV \u5145\u5f53\u5730\u56fe\u7406\u89e3\u63d0\u53d6\u5668\uff0c\u63d0\u4f9b\u5168\u9762\u7684\u573a\u666f\u7406\u89e3\uff0c\u4ece\u800c\u6709\u52a9\u4e8e\u751f\u6210\u66f4\u7cbe\u786e\u3001\u66f4\u5177\u60c5\u5883\u4fe1\u606f\u7684\u8f93\u51fa\u3002\u5176\u6574\u4f53\u6d41\u7a0b\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-8685c08d955df49771155f79a23d96b7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u5730\u56fe\u7406\u89e3\u63d0\u53d6\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"918\" height=\"165\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/2025-03-31_16-32.png\" alt=\"\" class=\"wp-image-27015\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/2025-03-31_16-32.png 918w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/2025-03-31_16-32-300x54.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/2025-03-31_16-32-768x138.png 768w\" sizes=\"(max-width: 918px) 100vw, 918px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1889842157684233822_10\">\u6761\u4ef6\u6269\u6563\u6a21\u578b<\/h3>\n\n\n\n<p>\u6211\u4eec\u7684\u6761\u4ef6\u7f16\u7801\u5668\u65e8\u5728\u6709\u6548\u5730\u6574\u5408\u5404\u79cd\u6761\u4ef6\u8f93\u5165\uff0c\u5e76\u63d0\u4f9b\u4fe1\u606f\u4e30\u5bcc\u7684\u6761\u4ef6\u5d4c\u5165\uff0c\u4ece\u800c\u4fc3\u8fdb\u540e\u7eed\u7684\u89e3\u7801\u8fc7\u7a0b\u3002\u5728\u63d0\u53d6\u5668\u4e4b\u540e\uff0c\u6761\u4ef6\u7f16\u7801\u5668\u4e3a\u6bcf\u4e2a\u573a\u666f\u63a5\u53d7\u4e09\u79cd\u7c7b\u578b\u7684\u8f93\u5165\uff1a\u521d\u59cb\u72b6\u6001\u3001\u6587\u672c\u63cf\u8ff0\u548c\u7406\u89e3\u4fe1\u606f\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u8f93\u5165\uff0c\u91c7\u7528\u76f8\u5e94\u7684\u524d\u9988\u7f16\u7801\u6a21\u5757\u6765\u63d0\u53d6\u5d4c\u5165\uff0c\u7136\u540e\u6cbf\u65f6\u95f4\u7ef4\u5ea6\u8fdb\u884c\u5e7f\u64ad\uff0c\u4e4b\u540e\u5c06\u5b83\u4eec\u8fde\u63a5\u8d77\u6765\u5f62\u6210\u6700\u7ec8\u7684\u6761\u4ef6\u5d4c\u5165\u3002<\/p>\n\n\n\n<p>\u7ed9\u5b9a\u6761\u4ef6\u8f93\u5165\uff0c\u6269\u6563\u89e3\u7801\u5668\u901a\u8fc7\u8fed\u4ee3\u7ec6\u5316\u566a\u58f0\u6570\u636e\uff0c\u5728\u6bcf\u4e2a\u65f6\u95f4\u6233\u751f\u6210\u9884\u6d4b\u8f68\u8ff9\u3002\u8fd9\u91cc\u6211\u4eec\u91c7\u7528 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=CTG%2B%2B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CTG++<\/a>\u4f5c\u4e3a\u6211\u4eec\u7684\u6269\u6563\u89e3\u7801\u5668\u6a21\u5757\u3002\u8be5\u8fc7\u7a0b\u9996\u5148\u5c06\u6765\u81ea\u6761\u4ef6\u7f16\u7801\u5668\u7684\u6761\u4ef6\u5d4c\u5165\u4e0e\u6765\u81ea\u524d\u9988\u6a21\u5757\u7684\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u5d4c\u5165\u6cbf\u65f6\u95f4\u7ef4\u5ea6\u8fde\u63a5\u8d77\u6765\u3002\u91c7\u7528\u53bb\u566a\u6b65\u9aa4 k \u7684\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\u6765\u7ed3\u5408\u65f6\u95f4\u52a8\u6001\u3002\u7f16\u7801\u8f68\u8ff9\u7ecf\u8fc7\u65f6\u95f4\u6ce8\u610f\u5757\u6765\u6355\u6349\u4ee3\u7406\u5173\u7cfb\uff0c\u7136\u540e\u7ecf\u8fc7\u7a7a\u95f4\u6ce8\u610f\u5757\u6765\u6355\u6349\u51e0\u4f55\u5173\u7cfb\u3002\u7136\u540e\uff0c\u5730\u56fe\u6ce8\u610f\u5c42\u5c06\u8f66\u9053\u70b9\u8f6c\u6362\u4e3a\u8f66\u9053\u5411\u91cf\uff0c\u901a\u8fc7\u591a\u5934\u6ce8\u610f\u5b9e\u73b0\u5730\u56fe\u611f\u77e5\u3002\u6700\u540e\uff0c\u5c06\u7f16\u7801\u7684\u8f68\u8ff9\u6295\u5f71\u56de\u8f93\u5165\u7ef4\u5ea6\uff0c\u4ea7\u751f\u9884\u6d4b\u7684\u52a8\u4f5c\u8f68\u8ff9\uff0c\u7136\u540e\u901a\u8fc7\u52a8\u6001\u51fd\u6570\u83b7\u5f97\u7ed3\u679c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1889842157684233822_11\">\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<p>\u6211\u4eec\u5728ChatBEV-QA\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5e76\u5c06\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u4e86\u5982\u4e0b\u7684\u8868\u683c\u4e2d\u3002\u6839\u636e\u76f8\u5e94\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u5373\u4f7f\u7ecf\u8fc7\u4ed4\u7ec6\u7684\u8bad\u7ec3\uff0c\u4f20\u7edf\u65b9\u6cd5\u4e5f\u96be\u4ee5\u51c6\u786e\u89e3\u91ca BEV \u56fe\u5e76\u751f\u6210\u7cbe\u786e\u3001\u5408\u7406\u7684\u7b54\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-fe9d589b028d9e13ee5ffa275f254205_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u867d\u7136 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=LXMERT&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">LXMERT<\/a>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255779132&amp;content_type=Article&amp;match_order=1&amp;q=UNITER&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">UNITER<\/a>\u6bd4\u4f20\u7edf\u65b9\u6cd5\u53d6\u5f97\u4e86\u663e\u8457\u7684\u8fdb\u6b65\uff0c\u51f8\u663e\u4e86\u5229\u7528\u5148\u9a8c\u77e5\u8bc6\u548c\u9884\u8bad\u7ec3\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u7684\u597d\u5904\uff0c\u4f46\u5b83\u4eec\u7684\u6027\u80fd\u4ecd\u7136\u4e0d\u591f\u7406\u60f3\uff0c\u7279\u522b\u662f\u5728\u8f66\u9053\u4ea4\u4e92\u63a8\u7406\u65b9\u9762\uff0c\u51f8\u663e\u4e86\u5b83\u4eec\u5728\u9002\u5e94 BEV \u5730\u56fe\u7406\u89e3\u65b9\u9762\u7684\u5c40\u9650\u6027\u3002Zero shot VLM \u7684\u8868\u73b0\u4e0e\u7ecf\u8fc7\u8bad\u7ec3\u7684\u4f20\u7edf\u65b9\u6cd5\u76f8\u5f53\uff0c\u8fd9\u8868\u660e\u9886\u57df\u5dee\u8ddd\u663e\u8457\u5f71\u54cd\u4e86 VLM \u7684\u6027\u80fd\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684 ChatBEV 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noopener\">InternLM-Xcomposer2<\/a>\uff0c\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u5982\u4e0b\u8868\u683c\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-1f36082299b5f3b55a4c7b4d0ebcb973_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u573a\u666f\u7406\u89e3\u5bf9\u573a\u666f\u751f\u6210\u7684\u5f71\u54cd\u5e76\u8bc4\u4f30 ChatBEV \u7684\u8d21\u732e\uff0c\u6211\u4eec\u6bd4\u8f83\u4e86\u6a21\u578b\u5728\u5404\u79cd\u8f93\u5165\u6761\u4ef6\u4e0b\u7684\u751f\u6210\u6027\u80fd\uff0c\u5b9e\u9a8c\u7ed3\u679c\u5982\u4e0b\u8868\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-6fbcd2302a459e129d583fc92fdfa2bb_1440w.jpg\" 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