{"id":32107,"date":"2025-08-14T17:31:23","date_gmt":"2025-08-14T09:31:23","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32107"},"modified":"2025-08-14T17:31:23","modified_gmt":"2025-08-14T09:31:23","slug":"2025-08-14-%e5%85%a8%e9%9d%a2%e8%b6%85%e8%b6%8adiffusiondrive%ef%bc%81%e4%b8%ad%e7%a7%91%e5%a4%a7gmf-drive%ef%bc%9a%e5%85%a8%e7%90%83%e9%a6%96%e4%b8%aamamba%e7%ab%af%e5%88%b0%e7%ab%afsota%e6%96%b9","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/14\/32107\/","title":{"rendered":"2025-08-14 \u5168\u9762\u8d85\u8d8aDiffusionDrive\uff01\u4e2d\u79d1\u5927GMF-Drive\uff1a\u5168\u7403\u9996\u4e2aMamba\u7aef\u5230\u7aefSOTA\u65b9\u6848"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/umJR_-7HFtP-aDIFIm65Pg<\/a><\/p>\n\n\n\n

\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u7ecf\u6210\u4e3a\u884c\u4e1a\u4e2d\u666e\u904d\u8ba4\u540c\u7684\u65b9\u6848\uff0c\u5b83\u80fd\u591f\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u6210\u4e3a\u9a7e\u9a76\u52a8\u4f5c\uff0c\u4ece\u800c\u51cf\u5c11\u5bf9\u591a\u9636\u6bb5\u4e2d\u95f4\u8868\u793a\u7684\u4f9d\u8d56\u4ee5\u53ca\u4fe1\u606f\u635f\u5931\u3002\u6700\u65b0\u7684\u5de5\u4f5c\u4e2d\uff0c\u6bd4\u5982\u50cf DiffusionDrive<\/strong> \u548c GoalFlow<\/strong> \u8fd9\u6837\u7684\u6269\u6563\u5f0f\u89c4\u5212\u6a21\u578b\uff0c\u5c55\u73b0\u51fa\u4e86\u5728\u751f\u6210\u591a\u6837\u4e14\u9ad8\u8d28\u91cf\u9a7e\u9a76\u8f68\u8ff9\u65b9\u9762\u7684\u5f3a\u5927\u80fd\u529b\u3002\u5c55\u5f00\u6765\u8bf4\uff0cVLA\u7684\u67b6\u6784\u4e5f\u53ef\u4ee5\u57fa\u4e8eVLM+\u8f68\u8ff9\u751f\u6210\u7684\u6a21\u5757\u5b9e\u73b0\uff0c\u6240\u4ee5\u8fd1\u6765\u7684\u5f88\u591a\u5de5\u4f5c\u90fd\u805a\u7126\u5728\u7aef\u5230\u7aef\u548c\u3001VLA\u4e24\u4e2a\u5927\u65b9\u5411\u4e0a\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u5c3d\u7ba1\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u6b65\uff0c\u4e00\u4e2a\u5173\u952e\u7684\u74f6\u9888\u4f9d\u7136\u6ca1\u6709\u88ab\u5145\u5206\u89e3\u51b3\uff1a\u591a\u6a21\u6001\u878d\u5408\u67b6\u6784<\/strong>\uff08multi-modal fusion architecture\uff09\uff0c\u4e5f\u5c31\u662f \u5982\u4f55\u6574\u5408\u4e0d\u540c\u4f20\u611f\u5668\u7684\u5f02\u6784\u8f93\u5165<\/strong>\u3002\u5f53\u524d\u7684\u4e3b\u6d41\u65b9\u6cd5\u5927\u591a\u91c7\u7528 TransFuser<\/strong> \u98ce\u683c\u7684\u4f20\u611f\u5668\u878d\u5408\u67b6\u6784\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u901a\u5e38\u662f\u76f4\u63a5\u5c06\u56fe\u50cf\u7279\u5f81\u4e0e LiDAR \u7279\u5f81\u62fc\u63a5\uff0c\u7136\u540e\u901a\u8fc7\u81ea\u6ce8\u610f\u529b\u673a\u5236\u8fdb\u884c\u5904\u7406\uff08\u5982\u56fe 1a\uff09\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8fd9\u79cd\u65b9\u5f0f\u4e3b\u8981\u5b58\u5728\u4e24\u4e2a\u95ee\u9898\uff1a<\/p>\n\n\n\n

    \n
  1. \u4fe1\u606f\u635f\u5931<\/strong>\uff1a\u4f20\u7edf\u57fa\u4e8e\u76f4\u65b9\u56fe\uff08histogram-based\uff09\u7684 LiDAR \u9884\u5904\u7406\u65b9\u6cd5\uff0c\u4f1a\u5c06\u7a7a\u95f4\u7f51\u683c\u4e2d\u70b9\u7684\u9ad8\u5ea6\u8fdb\u884c\u5e73\u5747\uff0c\u4ece\u800c\u4e22\u5931\u4e86\u5173\u952e\u7684 3D \u51e0\u4f55\u4fe1\u606f\uff0c\u6bd4\u5982\u7269\u4f53\u5f62\u72b6\u548c\u7ed3\u6784\u7684\u91cd\u8981\u7ebf\u7d22\u3002\u8fd9\u4f1a\u9650\u5236\u6a21\u578b\u7684\u611f\u77e5\u80fd\u529b\u3002<\/li>\n\n\n\n
  2. \u7f3a\u4e4f\u7a7a\u95f4\u611f\u77e5<\/strong>\uff1a\u6807\u51c6\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\u5728\u5904\u7406\u9e1f\u77b0\u56fe\u6570\u636e\u65f6\u7f3a\u5c11\u8db3\u591f\u7684\u7a7a\u95f4\u5148\u9a8c\uff0c\u5b83\u4f1a\u5bf9\u6240\u6709\u4f4d\u7f6e\u5747\u5300\u5730\u5173\u6ce8\uff0c\u800c\u5ffd\u7565\u4e86\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u91cd\u8981\u7a7a\u95f4\u89c4\u5f8b\uff0c\u4f8b\u5982\u524d\u65b9\u533a\u57df\u901a\u5e38\u6bd4\u540e\u65b9\u533a\u57df\u66f4\u91cd\u8981\uff0c\u8fd1\u5904\u7684\u969c\u788d\u7269\u6bd4\u8fdc\u5904\u7684\u66f4\u9700\u8981\u4f18\u5148\u5904\u7406\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4f5c\u8005\u7684\u5b9e\u9a8c\u8fd8\u63ed\u793a\u4e86\u4e00\u4e2a\u77db\u76fe\uff1a\u76f8\u6bd4\u5355\u6a21\u6001\u67b6\u6784\uff0c\u73b0\u6709\u7684\u591a\u6a21\u6001\u878d\u5408\u67b6\u6784\u5728\u6027\u80fd\u4e0a\u63d0\u5347\u6709\u9650\uff0c\u8fd9\u8bf4\u660e TransFuser \u98ce\u683c\u7684\u65b9\u6cd5\u66f4\u50cf\u662f\u5728\u505a\u7b80\u5355\u7684\u7279\u5f81\u62fc\u63a5\uff0c\u800c\u4e0d\u662f\u7ed3\u6784\u5316\u7684\u4fe1\u606f\u6574\u5408\u3002<\/p>\n\n\n\n

    \u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u4e2d\u79d1\u5927\u548c\u4e2d\u56fd\u77ff\u4e1a\u5927\u5b66\u7684\u56e2\u961f\u63d0\u51fa\u4e86 GMF-Drive<\/strong>\uff0c\u5b83\u5305\u542b\u4e09\u4e2a\u6a21\u5757\uff1a<\/p>\n\n\n\n

      \n
    • \u6570\u636e\u9884\u5904\u7406\u6a21\u5757<\/strong>\uff1a\u5c06\u539f\u59cb\u70b9\u4e91\u5904\u7406\u4e3a\u589e\u5f3a\u51e0\u4f55\u4fe1\u606f\u7684 14 \u7ef4\u67f1\u72b6\u8868\u793a\uff0c\u4fdd\u7559\u4e30\u5bcc\u7684\u51e0\u4f55\u573a\u666f\u4fe1\u606f\u3002<\/li>\n\n\n\n
    • \u611f\u77e5\u6a21\u5757<\/strong>\uff1a\u5f15\u5165\u00a0GM-Fusion<\/strong>\u00a0\u6a21\u5757\uff0c\u5229\u7528\u5177\u5907\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Spatial-aware State Space Model, SSM\uff09\uff0c\u5728\u4fdd\u6301\u5168\u5c40\u611f\u53d7\u91ce\u7684\u540c\u65f6\u5b9e\u73b0\u7ebf\u6027\u00a0O(N)\u590d\u6742\u5ea6\u7684\u7a7a\u95f4\u5efa\u6a21\u3002<\/li>\n\n\n\n
    • \u8f68\u8ff9\u89c4\u5212\u6a21\u5757<\/strong>\uff1a\u91c7\u7528\u7c7b\u4f3c DiffusionDrive \u7684\u622a\u65ad\u6269\u6563\u7b56\u7565\uff08truncated diffusion\uff09\uff0c\u7ed3\u5408\u951a\u70b9\u8f68\u8ff9\uff08anchor trajectories\uff09\u751f\u6210\u5408\u7406\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n\n\n\n

      \u57fa\u4e8e\u4e0a\u8ff0\u5206\u6790\uff0c\u4f5c\u8005\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

        \n
      • \u8bbe\u8ba1\u4e86\u4e00\u79cd\u51e0\u4f55\u589e\u5f3a\u7684\u70b9\u4e91\u8868\u793a\uff0c\u5e76\u8bc1\u660e\u4e86\u5b83\u5728\u591a\u6a21\u6001\u878d\u5408\u4e2d\u7684\u6709\u6548\u6027\u3002<\/li>\n\n\n\n
      • \u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u878d\u5408\u67b6\u6784\u00a0GM-Fusion<\/strong>\uff0c\u57fa\u4e8e\u7a7a\u95f4\u611f\u77e5\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08BEV-SSM\uff09\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u6bd4\u4f20\u7edf Transformer \u66f4\u4f18\u7684\u7cbe\u5ea6\u3002<\/li>\n\n\n\n
      • \u5728 NAVSIM \u57fa\u51c6\u6d4b\u8bd5\u4e2d\u901a\u8fc7\u5927\u91cf\u6d88\u878d\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u5404\u4e2a\u7ec4\u4ef6\uff08\u51e0\u4f55\u589e\u5f3a\u67f1\u72b6\u8868\u793a\u3001BEV-SSM\u3001\u5206\u5c42\u53ef\u53d8\u5f62\u8de8\u6a21\u6001\u6ce8\u610f\u529b\uff09\u7684\u6709\u6548\u6027\uff0c\u8bc1\u660e\u5b83\u4eec\u5bf9\u6700\u7ec8\u7684\u9ad8\u7cbe\u5ea6\u7ed3\u679c\u90fd\u6709\u663e\u8457\u8d21\u732e\u3002<\/li>\n<\/ul>\n\n\n\n
        \"\"<\/figure>\n\n\n\n
          \n
        • \u8bba\u6587\u9898\u76ee: GMF-Drive: Gated Mamba Fusion with Spatial-Aware BEV Representation for End-to-End Autonomous Driving<\/li>\n\n\n\n
        • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2508.06113<\/li>\n<\/ul>\n\n\n\n

          \u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n

          \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n

          \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u53d1\u5c55\u5df2\u7ecf\u4ece\u65e9\u671f\u57fa\u4e8e CNN \u7684\u65b9\u6cd5\uff0c\u6f14\u8fdb\u5230\u66f4\u5148\u8fdb\u7684\u591a\u6a21\u6001\u7cfb\u7edf\u3002\u65e9\u5728 1997 \u5e74\uff0cChua \u7b49\u4eba\u5c31\u8bc1\u660e\u4e86 CNN \u53ef\u4ee5\u76f4\u63a5\u5c06\u56fe\u50cf\u6620\u5c04\u5230\u8f6c\u5411\u6307\u4ee4\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u7684\u6cdb\u5316\u80fd\u529b\u5341\u5206\u6709\u9650\u3002\u6761\u4ef6\u6a21\u4eff\u5b66\u4e60<\/strong>\uff08Conditional Imitation Learning\uff09\u63d0\u5347\u4e86\u6027\u80fd\uff0c\u4f8b\u5982 CILRS<\/strong> \u5229\u7528\u5bfc\u822a\u6307\u4ee4\u6765\u5f15\u5bfc\u9a7e\u9a76\u7b56\u7565\uff0c\u800c LBC<\/strong> \u5219\u5f15\u5165\u4e86\u5e26\u6709\u201c\u7279\u6743\u4fe1\u606f\u201d\u7684\u6559\u5e08-\u5b66\u751f\u5b66\u4e60\u6846\u67b6\u3002<\/p>\n\n\n\n

          \u5c06\u8868\u793a\u65b9\u5f0f\u8f6c\u5411\u9e1f\u77b0\u56fe\u662f\u4e00\u4e2a\u91cd\u8981\u7684\u91cc\u7a0b\u7891\u3002\u4f8b\u5982 TransFuser<\/strong> \u5c06\u56fe\u50cf\u548c LiDAR \u6570\u636e\u7ed3\u5408\u5728\u4e00\u8d77\uff0c\u901a\u8fc7 Transformer \u8fdb\u884c\u878d\u5408\uff0c\u542f\u53d1\u4e86\u8bb8\u591a\u65b0\u7684 BEV \u65b9\u6cd5\u3002UniAD<\/strong> \u5c06\u591a\u4e2a\u611f\u77e5\u4efb\u52a1\u6574\u5408\u5230\u4e00\u8d77\u4ee5\u63d0\u5347\u89c4\u5212\u6548\u679c\uff0cVAD<\/strong> \u5f15\u5165\u4e86\u9ad8\u6548\u7684\u5411\u91cf\u5316\u8868\u793a\u3002\u8fd1\u671f\u7684\u7814\u7a76\u91cd\u70b9\u8f6c\u5411\u591a\u6a21\u6001\u51b3\u7b56\uff0c\u4f8b\u5982 SparseDrive<\/strong> \u63a2\u7d22\u7a00\u758f\u8868\u793a\uff0c\u800c GoalFlow<\/strong> \u53ef\u4ee5\u751f\u6210\u591a\u6837\u5316\u7684\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u65b9\u6cd5\u4f9d\u7136\u4f9d\u8d56\u8ba1\u7b97\u91cf\u5e9e\u5927\u7684 Transformer \u67b6\u6784\uff0c\u4f5c\u8005\u7684\u5de5\u4f5c\u5219\u5c1d\u8bd5\u7528\u66f4\u9ad8\u6548\u7684\u6a21\u578b\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002<\/p>\n\n\n\n

          \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u591a\u6a21\u6001\u878d\u5408<\/strong><\/p>\n\n\n\n

          \u591a\u6a21\u6001\u878d\u5408\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u65b9\u6cd5\u4e3b\u8981\u5206\u4e3a\u4e09\u7c7b\uff1a\u65e9\u671f\u878d\u5408<\/strong>\uff08early fusion\uff09\u3001\u540e\u671f\u878d\u5408<\/strong>\uff08late fusion\uff09\u3001\u4ee5\u53ca\u4e2d\u671f\u878d\u5408<\/strong>\uff08intermediate fusion\uff09\u3002<\/p>\n\n\n\n

            \n
          • \u65e9\u671f\u878d\u5408<\/strong>\uff1a\u5728\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u9636\u6bb5\u76f4\u63a5\u878d\u5408\uff0c\u4f46\u4e0d\u540c\u6a21\u6001\u6570\u636e\u683c\u5f0f\u5dee\u5f02\u8f83\u5927\uff0c\u5904\u7406\u56f0\u96be\u3002<\/li>\n\n\n\n
          • \u540e\u671f\u878d\u5408<\/strong>\uff1a\u5728\u9ad8\u5c42\u51b3\u7b56\u9636\u6bb5\u8fdb\u884c\u878d\u5408\uff0c\u4f46\u9519\u8fc7\u4e86\u8de8\u6a21\u6001\u7279\u5f81\u4ea4\u4e92\u7684\u673a\u4f1a\u3002<\/li>\n\n\n\n
          • \u4e2d\u671f\u878d\u5408<\/strong>\uff1a\u76ee\u524d\u6700\u5e38\u7528\u7684\u65b9\u6cd5\uff0c\u5728\u4e2d\u95f4\u7279\u5f81\u5c42\u9762\u4f7f\u7528 Transformer \u8fdb\u884c\u7ed3\u5408\u3002<\/li>\n<\/ul>\n\n\n\n

            \u4f8b\u5982\uff0cTransFuser<\/strong> \u5728\u591a\u4e2a\u5c3a\u5ea6\u4e0a\u878d\u5408\u56fe\u50cf\u548c LiDAR \u6570\u636e\uff0c\u901a\u8fc7\u6ce8\u610f\u529b\u673a\u5236\u5b9e\u73b0\uff0c\u6027\u80fd\u4f18\u4e8e\u65e9\u671f\u7684\u57fa\u4e8e\u51e0\u4f55\u7684\u65b9\u6cd5\u3002\u4e4b\u540e\u7684 BEVFusion<\/strong> \u548c FUTR3D<\/strong> \u5728\u5171\u4eab\u7279\u5f81\u7a7a\u95f4\u4e2d\u63d0\u5347\u4e86\u878d\u5408\u6548\u679c\u3002\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u8ba1\u7b97\u91cf\u5e9e\u5927\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u8feb\u4f7f\u5b83\u4eec\u53ea\u80fd\u4f7f\u7528\u4f4e\u5206\u8fa8\u7387\u7279\u5f81\uff0c\u4ece\u800c\u4e22\u5931\u4e86\u91cd\u8981\u7ec6\u8282\u3002<\/p>\n\n\n\n

            \u4f5c\u8005\u7684\u5de5\u4f5c\u4e0d\u540c\u4e8e\u4ee5 Transformer \u4e3a\u6838\u5fc3\u7684\u8303\u5f0f\uff0c\u63d0\u51fa\u4e86 GM-Fusion<\/strong>\uff0c\u5229\u7528\u5177\u5907\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Spatial-aware State Space Model, SSM\uff09\uff0c\u5728\u4fdd\u6301\u957f\u7a0b\u4f9d\u8d56\u5efa\u6a21\u80fd\u529b\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u4e86\u7ebf\u6027\u590d\u6742\u5ea6\u7684\u8ba1\u7b97\u3002<\/p>\n\n\n\n

            GMF-Drive\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n

            \u6a21\u578b\u6982\u8ff0<\/strong><\/p>\n\n\n\n

            GMF-Drive<\/strong>\uff08\u89c1\u56fe 2\uff09\u4f7f\u7528\u4e24\u4e2a\u72ec\u7acb\u7684 ResNet-34 \u4e3b\u5e72\u7f51\u7edc\u5206\u522b\u5bf9\u76f8\u673a\u56fe\u50cf\u548c\u51e0\u4f55\u4fe1\u606f\u4e30\u5bcc\u7684 14 \u7ef4 LiDAR \u67f1\u72b6\u8868\u793a\u8fdb\u884c\u7f16\u7801\u3002\u5728\u56db\u4e2a\u5c3a\u5ea6\u4e0a\uff0c\u4f5c\u8005\u7684\u00a0GM-Fusion<\/strong>\u00a0\u6a21\u5757\u901a\u8fc7\u901a\u9053\u6ce8\u610f\u529b\uff08Channel Attention\uff09<\/strong>\u3001BEV-SSM<\/strong>\uff08\u7528\u4e8e\u7ebf\u6027\u590d\u6742\u5ea6\u7684\u7a7a\u95f4\u5efa\u6a21\uff09\u4ee5\u53ca\u00a0\u5206\u5c42\u53ef\u53d8\u5f62\u8de8\u6ce8\u610f\u529b\uff08Hierarchical Deformable Cross-Attention, HCA\uff09<\/strong>\u00a0\u6765\u878d\u5408\u591a\u6a21\u6001\u4fe1\u606f\u3002\u878d\u5408\u540e\u7684\u7279\u5f81\u4e0e\u81ea\u8f66\u72b6\u6001\u53ca\u951a\u70b9\u8f68\u8ff9\u7ed3\u5408\u540e\uff0c\u8f93\u5165\u5230\u6269\u6563\u89e3\u7801\u5668\uff0c\u901a\u8fc7\u622a\u65ad\u6269\u6563\u751f\u6210\u6700\u7ec8\u8f68\u8ff9\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u51e0\u4f55\u589e\u5f3a\u7684\u67f1\u72b6\u8868\u793a<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            Gated Mamba Fusion\u6a21\u5757<\/strong><\/p>\n\n\n\n

            GM-Fusion<\/strong> \u6a21\u5757\u901a\u8fc7\u4e09\u90e8\u5206\u6765\u6574\u5408\u591a\u6a21\u6001\u7279\u5f81\uff1a<\/p>\n\n\n\n

              \n
            1. \u95e8\u63a7\u901a\u9053\u6ce8\u610f\u529b\uff08Gated Channel Attention\uff09<\/strong>\uff1a\u5bf9\u9f50\u5e76\u878d\u5408\u76f8\u673a\u4e0e LiDAR \u7279\u5f81\u3002<\/li>\n\n\n\n
            2. BEV-SSM<\/strong>\uff1a\u5229\u7528\u65b9\u5411\u611f\u77e5\uff08direction-aware\uff09\u4e0e\u53cc\u626b\u63cf\u6a21\u5f0f\uff08dual-pattern scanning\uff09\u5e76\u7ed3\u5408\u8ddd\u79bb\u8870\u51cf\uff08distance decay\uff09\u9ad8\u6548\u5efa\u6a21\u7a7a\u95f4\u4f9d\u8d56\u3002<\/li>\n\n\n\n
            3. \u5206\u5c42\u53ef\u53d8\u5f62\u8de8\u6ce8\u610f\u529b\uff08HCA\uff09<\/strong>\uff1a\u67e5\u8be2\u591a\u5c3a\u5ea6\u56fe\u50cf\u7279\u5f81\uff0c\u8fdb\u4e00\u6b65\u7cbe\u7ec6\u5316\u878d\u5408\u7ed3\u679c\u3002<\/li>\n<\/ol>\n\n\n\n
              \"\"<\/figure>\n\n\n\n

              BEV \u4f4d\u7f6e\u7f16\u7801<\/strong><\/p>\n\n\n\n

              \u6807\u51c6\u4f4d\u7f6e\u7f16\u7801\u5f80\u5f80\u4e0d\u80fd\u6709\u6548\u8868\u793a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u590d\u6742\u7684\u7a7a\u95f4\u7ed3\u6784\u3002\u4f5c\u8005\u63d0\u51fa\u4e00\u79cd \u81ea\u8f66\u4e2d\u5fc3\u6781\u5750\u6807\u7cfb<\/strong> \u7684\u7f16\u7801\u65b9\u6cd5\uff0c\u7ed3\u5408\u8ddd\u79bb\u548c\u65b9\u5411\u4fe1\u606f\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u7a7a\u95f4\u4f4d\u7f6e\uff0c\u4f5c\u8005\u8ba1\u7b97\u5176\u4e0e\u81ea\u8f66\u539f\u70b9\u7684\u6b27\u51e0\u91cc\u5f97\u8ddd\u79bb\u548c\u65b9\u4f4d\u89d2\uff08\u4f7f\u7528 atan2<\/code> \u8ba1\u7b97\uff09\u3002\u8fd9\u4e9b\u6781\u5750\u6807\u901a\u8fc7\u591a\u9891\u7387\u6b63\u5f26\u7f16\u7801\uff08sine-cosine\uff09\u6620\u5c04\u5230\u9ad8\u7ef4\u7a7a\u95f4\uff0c\u6ce2\u957f\u5448\u6307\u6570\u8870\u51cf\u3002
              \u5173\u952e\u521b\u65b0\u5728\u4e8e\u7ef4\u5ea6\u4ea4\u9519\uff08dimensional interleaving\uff09<\/strong>\uff0c\u5373\u5c06\u8ddd\u79bb\u548c\u89d2\u5ea6\u7f16\u7801\u4ea4\u66ff\u6392\u5217\uff0c\u800c\u4e0d\u662f\u5206\u5757\u62fc\u63a5\uff0c\u4ece\u800c\u5728\u6bcf\u4e2a\u7279\u5f81\u5c42\u90fd\u5f3a\u5236\u8054\u5408\u5b66\u4e60\u7a7a\u95f4\u5927\u5c0f\u4e0e\u65b9\u5411\u4fe1\u606f\u3002<\/p>\n\n\n\n

              \u53cc\u626b\u63cf\u6a21\u5f0f<\/strong><\/p>\n\n\n\n

              \u4e3a\u4e86\u5c06\u4e8c\u7ef4 BEV \u7279\u5f81\u5e8f\u5217\u5316\u4f9b\u987a\u5e8f\u5904\u7406\uff0c\u4f5c\u8005\u4f7f\u7528\u4e24\u79cd\u4e92\u8865\u626b\u63cf\u6a21\u5f0f\uff1a<\/p>\n\n\n\n

                \n
              • \u5149\u6805\u626b\u63cf\uff08Raster Scan\uff09<\/strong>\uff1a\u6309\u884c\u4f9d\u6b21\u4ece\u5de6\u5230\u53f3\u626b\u63cf\uff0c\u9002\u5408\u6355\u6349\u6cbf\u884c\u9a76\u65b9\u5411\u7684\u957f\u7a0b\u4f9d\u8d56\u3002<\/li>\n\n\n\n
              • Z \u5b57\u626b\u63cf\uff08Zigzag Scan\uff09<\/strong>\uff1a\u86c7\u5f62\u8def\u5f84\u626b\u63cf\uff0c\u4fdd\u6301\u5c40\u90e8\u90bb\u8fd1\u50cf\u7d20\u5728\u5e8f\u5217\u4e2d\u7684\u8fde\u7eed\u6027\uff0c\u6709\u52a9\u4e8e\u4fdd\u7559\u5c40\u90e8\u51e0\u4f55\u7ec6\u8282\u3002<\/li>\n<\/ul>\n\n\n\n

                \u4e24\u8005\u4e92\u8865\uff0c\u4f7f\u6a21\u578b\u65e2\u80fd\u83b7\u5f97\u5168\u5c40\u573a\u666f\u7ed3\u6784\uff08\u5149\u6805\u626b\u63cf\uff09\u53c8\u80fd\u4fdd\u7559\u5c40\u90e8\u7ec6\u8282\uff08Z \u5b57\u626b\u63cf\uff09\uff0cBEV-SSM \u4f1a\u5e76\u884c\u5904\u7406\u5e76\u81ea\u9002\u5e94\u878d\u5408\u5b83\u4eec\u3002<\/p>\n\n\n\n

                AwareSSM \u6a21\u5757<\/strong><\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n

                \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

                \u4f5c\u8005\u5728\u516c\u5f00\u53ef\u7528\u7684 NAVSIM \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\u3002\u4e3a\u4e86\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u4e0e DiffusionDrive \u76f8\u540c\u7684\u8bc4\u4f30\u6307\u6807\u3002GMF-Drive \u57fa\u4e8e DiffusionDrive \u7684\u4ee3\u7801\u5e93\uff0c\u5c06\u5176\u4e2d\u7684 TransFuser \u6a21\u5757\u66ff\u6362\u4e3a\u4f5c\u8005\u7684 GM-Fusion \u67b6\u6784\u3002<\/p>\n\n\n\n

                \u5b9a\u91cf\u6bd4\u8f83<\/strong><\/p>\n\n\n\n

                \u5982\u8868 1 \u6240\u793a\uff0cGMF-Drive \u5728 NAVSIM navtest \u96c6\u4e0a\u7684 PDMS \u5f97\u5206\u8fbe\u5230 88.9\uff0c\u5728 ResNet-34 \u4e3b\u5e72\u548c\u76f8\u540c\u4f20\u611f\u5668\u8f93\u5165\u6761\u4ef6\u4e0b\uff0c\u8f83\u4e4b\u524d\u6700\u4f73\u7684 DiffusionDrive \u63d0\u9ad8\u4e86 0.8 \u5206\uff0c\u8bc1\u660e\u4e86 GM-Fusion \u67b6\u6784\u76f8\u8f83\u4e8e\u4f20\u7edf\u57fa\u4e8e Transformer \u7684\u878d\u5408\u65b9\u5f0f\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u4f5c\u8005\u65b9\u6cd5\u7684\u4f18\u52bf\u5728\u4e00\u4e9b\u5173\u952e\u5b50\u6307\u6807\u4e0a\u5c24\u4e3a\u660e\u663e\u3002GMF-Drive \u5728\u53ef\u884c\u9a76\u533a\u57df\u7b26\u5408\u7387\uff08DAC\uff09\u4e0a\u5f97\u5206 97.3\uff08\u76f8\u6bd4 DiffusionDrive \u63d0\u5347 +1.1\uff09\uff0c\u9a8c\u8bc1\u4e86\u4fdd\u7559\u7cbe\u7ec6\u7a7a\u95f4\u7279\u5f81\u80fd\u591f\u63d0\u9ad8\u573a\u666f\u7406\u89e3\u80fd\u529b\u3002\u5b83\u8fd8\u5728\u81ea\u8f66\u63a8\u8fdb\u7387\uff08EP\uff09\u4e0a\u83b7\u5f97\u4e86 83.3 \u7684\u6700\u9ad8\u5206\uff0c\u8868\u660e\u9ad8\u6548\u7684\u878d\u5408\u63d0\u5347\u4e86\u5b89\u5168\u6027\u548c\u9a7e\u9a76\u6548\u7387\u3002<\/p>\n\n\n\n

                \u6b64\u5916\uff0cGMF-Drive \u663e\u8457\u8d85\u8d8a\u4e86\u57fa\u4e8e\u8f68\u8ff9\u8bcd\u6c47\u7684\u65b9\u6cd5\u3002\u5b83\u6bd4\u4e00\u4e2a\u7ecf\u8fc7\u5927\u91cf\u8c03\u4f18\u3001\u989d\u5916\u4f7f\u7528\u89c4\u5219\u76d1\u7763\u548c\u52a0\u6743\u7f6e\u4fe1\u5ea6\u540e\u5904\u7406\u7684 Hydra-MDP \u53d8\u4f53\u9ad8\u51fa 2.3 PDMS \u5206\u3002<\/p>\n\n\n\n

                \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

                \u6574\u4f53\u7cfb\u7edf\u7ec4\u4ef6\u5206\u6790<\/strong><\/p>\n\n\n\n

                \u5982\u8868 2 \u6240\u793a\uff0c\u57fa\u7ebf DiffusionDrive \u6a21\u578b\u7ecf\u8fc7\u591a\u4e2a\u5173\u952e\u521b\u65b0\u7684\u9010\u6b65\u589e\u5f3a\uff0c\u6bcf\u4e00\u6b65\u90fd\u5728\u8bc4\u4f30\u6307\u6807\u4e0a\u5e26\u6765\u4e86\u53ef\u8861\u91cf\u7684\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u9996\u5148\uff0c\u5c06\u57fa\u7ebf LiDAR \u7f16\u7801\u66ff\u6362\u4e3a\u4f5c\u8005\u7684 8 \u7ef4 pillar \u8868\u793a\uff0c\u4f7f\u5f97 PDMS \u4ece 88.10 \u63d0\u5347\u5230 88.61\uff0c\u9a8c\u8bc1\u4e86\u66f4\u4e30\u5bcc\u7684\u51e0\u4f55\u8f93\u5165\u5373\u4f7f\u5728\u6807\u51c6\u878d\u5408\u6a21\u5757\u4e0b\u4e5f\u80fd\u63d0\u5347\u611f\u77e5\u6027\u80fd\u3002<\/p>\n\n\n\n

                \u63a5\u7740\uff0c\u96c6\u6210\u4f5c\u8005\u7684 Gated Mamba Fusion\uff08GMF\uff09\u6a21\u5757\u540e\uff0cPDMS \u8fdb\u4e00\u6b65\u63d0\u5347\u81f3 88.82\u3002\u5c3d\u7ba1 EP \u7565\u6709\u4e0b\u964d\uff0c\u6574\u4f53\u6027\u80fd\u7684\u63d0\u5347\u8868\u660e\u4f5c\u8005\u7684\u7a7a\u95f4\u611f\u77e5\u878d\u5408\u673a\u5236\u80fd\u591f\u6709\u6548\u5229\u7528\u8fd9\u4e9b\u51e0\u4f55\u7279\u5f81\u3002<\/p>\n\n\n\n

                \u6700\u540e\uff0c\u91c7\u7528\u5b8c\u6574\u7684 14 \u7ef4 pillar \u8868\u793a\u4f7f PDMS \u8fbe\u5230\u6700\u9ad8\u7684 88.85\u3002\u76f8\u8f83\u4e8e 8 \u7ef4\u7248\u672c\u7684\u589e\u76ca\u8f83\u5c0f\uff08+0.03\uff09\uff0c\u4f46\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u5e26\u6765\u4e86\u4e00\u81f4\u7684\u5c0f\u5e45\u63d0\u5347\u3002\u8fd9\u8868\u660e 8 \u7ef4\u8868\u793a\u6355\u83b7\u4e86\u6700\u5173\u952e\u7684\u51e0\u4f55\u4fe1\u606f\uff0c\u800c\u989d\u5916\u7684\u7edf\u8ba1\u7279\u5f81\u63d0\u4f9b\u4e86\u7ec6\u5fae\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n

                \u603b\u4f53\u800c\u8a00\uff0c\u8fd9\u4e9b\u7ec4\u4ef6\u76f8\u8f83\u4e8e\u57fa\u7ebf\u5e26\u6765\u4e86 0.75 \u5206\u7684 PDMS \u63d0\u5347\uff0c\u8bc1\u660e\u4e86\u6570\u636e\u8868\u793a\u548c\u878d\u5408\u67b6\u6784\u5bf9\u4e8e\u5b9e\u73b0\u6700\u4f18\u6027\u80fd\u90fd\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n

                \u878d\u5408\u67b6\u6784\u8bbe\u8ba1\u5206\u6790<\/strong><\/p>\n\n\n\n

                \u8868 3 \u5bf9\u878d\u5408\u7b56\u7565\u7684\u7cfb\u7edf\u6027\u8bc4\u4f30\u4e3a\u4f5c\u8005\u7684\u67b6\u6784\u8bbe\u8ba1\u63d0\u4f9b\u4e86\u6709\u529b\u8bc1\u636e\u3002\u4ece\u57fa\u7ebf\u81ea\u6ce8\u610f\u529b\uff08SA\uff09\u673a\u5236\u5f00\u59cb\uff0c\u5207\u6362\u5230\u8de8\u6ce8\u610f\u529b\uff08CA\uff09\u5e26\u6765\u4e86\u53ef\u89c2\u7684\u6027\u80fd\u63d0\u5347\uff0cPDMS \u4ece 88.10 \u63d0\u5347\u5230 88.39\u3002\u8fd9\u4e00\u63d0\u5347\u6e90\u4e8e\u8de8\u6ce8\u610f\u529b\u5728\u76f8\u673a\u548c LiDAR \u6a21\u6001\u95f4\u5efa\u7acb\u76f4\u63a5\u7279\u5f81\u5bf9\u5e94\u5173\u7cfb\u7684\u4f18\u52bf\uff0c\u76f8\u8f83\u4e8e\u57fa\u7ebf\u7684\u62fc\u63a5\u878d\u5408\uff0c\u8de8\u6a21\u6001\u4ea4\u4e92\u66f4\u6709\u6548\u3002<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                C-EffiMamba \u7684\u65b9\u6cd5\u5c1d\u8bd5\u7528\u901a\u7528\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u66ff\u4ee3 Transformer \u67b6\u6784\u3002PDMS \u964d\u81f3 88.02\uff0c\u8868\u660e\u7b80\u5355\u5957\u7528\u6807\u51c6\u5e8f\u5217\u6a21\u578b\u65e0\u6cd5\u6355\u6349\u9a7e\u9a76\u573a\u666f\u56fa\u6709\u7684\u590d\u6742\u7a7a\u95f4\u5173\u7cfb\u3002<\/p>\n\n\n\n

                CA+EffiMamba \u7684\u63d0\u5347\u6709\u9650\uff0888.04\uff09\uff0c\u4f46\u5176\u5206\u5c42\u7248\u672c\uff08HCA+EffiMamba\uff09\u663e\u8457\u63d0\u5347\u81f3 88.44\u3002\u6027\u80fd\u5dee\u8ddd\u7a81\u51fa\u4e86\u591a\u5c3a\u5ea6\u5904\u7406\u5728\u4f20\u611f\u5668\u878d\u5408\u4e2d\u7684\u91cd\u8981\u6027\uff0c\u5206\u5c42\u6ce8\u610f\u529b\u673a\u5236\u80fd\u5728\u4e0d\u540c\u7a7a\u95f4\u5206\u8fa8\u7387\u4e0b\u81ea\u9002\u5e94\u805a\u7126\u4e8e\u76f8\u5173\u533a\u57df\uff0c\u540c\u65f6\u4fdd\u6301\u4e0a\u4e0b\u6587\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n

                \u6700\u5927\u63d0\u5347\u6765\u81ea HCA+BEV-SSM \u914d\u7f6e\uff0c\u5b83\u5f15\u5165\u4e86\u4f5c\u8005\u4e13\u95e8\u4f18\u5316\u7684 BEV \u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff0cPDMS \u8fbe\u5230 88.69\u3002\u8fd9\u79cd\u9488\u5bf9 BEV \u4f18\u5316\u7684\u626b\u63cf\u6a21\u5f0f\u4e0e\u7a7a\u95f4\u5148\u9a8c\u5bf9\u4e8e\u5904\u7406 BEV \u8868\u793a\u7279\u522b\u6709\u6548\uff0c\u4ece\u800c\u5728\u8f68\u8ff9\u9884\u6d4b\u4e0e\u969c\u788d\u7269\u68c0\u6d4b\u4efb\u52a1\u4e2d\u83b7\u5f97\u66f4\u4f18\u8868\u73b0\u3002<\/p>\n\n\n\n

                GM-Fusion \u7ec4\u4ef6\u5206\u6790<\/strong><\/p>\n\n\n\n

                \u8868 4 \u91cf\u5316\u4e86 GM-Fusion \u5404\u7ec4\u4ef6\u7684\u8d21\u732e\u3002\u4ec5\u6dfb\u52a0\u5206\u5c42\u53ef\u53d8\u5f62\u8de8\u6ce8\u610f\u529b\uff08HCA\uff09\u5373\u53ef\u5c06 PDMS \u4ece 88.10 \u63d0\u5347\u81f3 88.46\uff0c\u5f97\u76ca\u4e8e DAC \u548c EP \u7684\u63d0\u5347\u3002<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u5c06 HCA \u4e0e\u901a\u9053\u6ce8\u610f\u529b\u7ed3\u5408\u8fdb\u4e00\u6b65\u63d0\u5347\u5230 88.67\uff0c\u4e3b\u8981\u63d0\u5347\u4e86 NC \u548c TTC\uff0c\u8bf4\u660e\u5728\u878d\u5408\u524d\u663e\u5f0f\u5bf9\u9f50\u76f8\u673a\u4e0e LiDAR \u7279\u5f81\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n

                \u5c06 HCA \u4e0e\u4f5c\u8005\u7684 BEV-SSM \u7ed3\u5408\u4e5f\u8fbe\u5230\u4e86\u7c7b\u4f3c\u7684 88.69\uff0c\u8bf4\u660e BEV-SSM \u7684\u7a7a\u95f4\u5efa\u6a21\u80fd\u529b\u4e0e\u901a\u9053\u5bf9\u9f50\u5728\u878d\u5408\u4e2d\u540c\u6837\u6709\u6548\uff0c\u540c\u65f6\u7531\u4e8e\u5176\u7ebf\u6027\u590d\u6742\u5ea6\u800c\u5177\u5907\u66f4\u9ad8\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n\n\n\n

                \u6700\u540e\uff0c\u5b8c\u6574\u96c6\u6210\u6240\u6709\u4e09\u4e2a\u7ec4\u4ef6\u7684 GM-Fusion \u6a21\u5757\uff0cPDMS \u8fbe\u5230\u6700\u9ad8\u7684 88.85\u3002\u6700\u7ec8\u7684\u6027\u80fd\u63d0\u5347\u9a8c\u8bc1\u4e86\u901a\u9053\u6ce8\u610f\u529b\u4e0e BEV-SSM \u7684\u4e92\u8865\u6027\uff1a\u524d\u8005\u8de8\u6a21\u6001\u5bf9\u9f50\u7279\u5f81\uff0c\u540e\u8005\u5728\u878d\u5408\u8868\u793a\u4e2d\u5efa\u6a21\u7a7a\u95f4\u4f9d\u8d56\uff0c\u4e24\u8005\u7684\u534f\u540c\u4f5c\u7528\u662f\u4f5c\u8005\u53d6\u5f97\u6700\u4f18\u6027\u80fd\u7684\u5173\u952e\u3002<\/p>\n\n\n\n

                \u5b9a\u6027\u6bd4\u8f83<\/strong><\/p>\n\n\n\n

                \u4e3a\u4e86\u76f4\u89c2\u5c55\u793a\u4f5c\u8005\u65b9\u6cd5\u7684\u4f18\u52bf\uff0c\u4f5c\u8005\u5728\u56fe 4 \u4e2d\u7ed9\u51fa\u4e86\u8f68\u8ff9\u7684\u53ef\u89c6\u5316\u6bd4\u8f83\u3002
                \u5728\u5de6\u8f6c\u573a\u666f (a) \u4e2d\uff0cDiffusionDrive \u751f\u6210\u7684\u8f68\u8ff9\u504f\u79bb\u4e86\u771f\u5b9e\u8f68\u8ff9\uff0c\u8868\u73b0\u51fa\u65b9\u5411\u4e0d\u4e00\u81f4\u3002\u5728\u76f4\u884c\u573a\u666f (b) \u4e2d\uff0c\u57fa\u7ebf\u65b9\u6cd5\u51fa\u73b0\u4e86\u610f\u5916\u7684\u5de6\u504f\uff1b\u5728\u53f3\u8f6c\u573a\u666f (c) \u4e2d\uff0cDiffusionDrive \u751f\u6210\u7684\u8f68\u8ff9\u4fdd\u6301\u76f4\u884c\uff0c\u4e0e\u6240\u9700\u7684\u8f68\u8ff9\u51e0\u4f55\u4e0d\u7b26\u3002\u8fd9\u4e9b\u6a21\u5f0f\u8868\u660e\uff0c\u57fa\u4e8e Transformer \u7684\u878d\u5408\u6846\u67b6\u5728\u7a7a\u95f4\u63a8\u7406\u65b9\u9762\u5b58\u5728\u5c40\u9650\u3002<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u76f8\u6bd4\u4e4b\u4e0b\uff0cGMF-Drive \u5728\u6240\u6709\u573a\u666f\u4e2d\u90fd\u5b9e\u73b0\u4e86\u51c6\u786e\u7684\u8def\u5f84\u5bf9\u9f50\u3002\u4f5c\u8005\u7684\u65b9\u6cd5\u80fd\u591f\u6b63\u786e\u5b8c\u6210\u5de6\u8f6c (a) \u548c\u53f3\u8f6c (c)\uff0c\u540c\u65f6\u5728\u76f4\u884c (b) \u4e2d\u4fdd\u6301\u7a33\u5b9a\u7684\u76f4\u7ebf\u8fd0\u52a8\u3002
                \u8fd9\u79cd\u8868\u73b0\u76f4\u63a5\u5f97\u76ca\u4e8e\u4f5c\u8005\u7684\u67b6\u6784\u521b\u65b0\uff1a\u51e0\u4f55\u589e\u5f3a\u7684\u67f1\u72b6\u8868\u793a\u4fdd\u7559\u4e86\u5173\u952e\u7684 3D \u7ed3\u6784\u4fe1\u606f\uff0c\u800c GM-Fusion \u901a\u8fc7\u65b9\u5411\u626b\u63cf\u5e8f\u5217\u5b9e\u73b0\u4e86\u7a7a\u95f4\u611f\u77e5\u7684\u7279\u5f81\u878d\u5408\uff0c\u5e76\u80fd\u5728\u591a\u6a21\u6001\u5904\u7406\u8fc7\u7a0b\u4e2d\u81ea\u9002\u5e94\u5730\u4f18\u5148\u5173\u6ce8\u524d\u65b9\u533a\u57df\uff0c\u4ece\u800c\u751f\u6210\u66f4\u7b26\u5408\u7a7a\u95f4\u7ea6\u675f\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n

                \u7ed3\u8bba<\/strong><\/p>\n\n\n\n

                \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u00a0GMF-Drive<\/strong>\u00a0\u2014\u2014 \u4e00\u4e2a\u65b0\u578b\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u5b83\u5c06\u51e0\u4f55\u589e\u5f3a\u7684\u67f1\u72b6\u8868\u793a<\/strong>\u4e0e\u5177\u5907\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u7684\u95e8\u63a7\u72b6\u6001\u7a7a\u95f4\u6a21\u578b<\/strong>\u76f8\u7ed3\u5408\uff0c\u7528\u4e8e\u591a\u6a21\u6001\u611f\u77e5\u878d\u5408\u3002\u8be5\u878d\u5408\u65b9\u5f0f\u6709\u6548\u66ff\u4ee3\u4e86\u5f53\u524d\u4f9d\u8d56 Transformer \u7684\u878d\u5408\u6846\u67b6\u3002\u901a\u8fc7\u5728\u00a0NAVSIM<\/strong>\u00a0\u57fa\u51c6\u4e0a\u7684\u5168\u9762\u5b9e\u9a8c\uff0c\u4f5c\u8005\u7684\u6d88\u878d\u7814\u7a76\u9a8c\u8bc1\u4e86\u878d\u5408\u67b6\u6784\u8bbe\u8ba1\u7684\u5408\u7406\u6027\uff0c\u800c\u5b9a\u91cf\u7ed3\u679c\u8868\u660e\uff0cGMF-Drive \u5728\u6027\u80fd\u4e0a\u8fbe\u5230\u4e86\u65b0\u7684\u6700\u4f18\u6c34\u5e73\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/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-32107","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32107"}],"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=32107"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32107\/revisions"}],"predecessor-version":[{"id":32119,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32107\/revisions\/32119"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=32107"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=32107"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=32107"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}