{"id":32317,"date":"2025-08-21T17:32:58","date_gmt":"2025-08-21T09:32:58","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32317"},"modified":"2025-08-21T17:32:58","modified_gmt":"2025-08-21T09:32:58","slug":"2025-08-21%e6%84%9f%e7%9f%a5%e5%92%8c%e8%a7%84%e5%88%92%e5%8f%af%e4%bb%a5%e8%80%a6%e5%90%88%ef%bc%9f%e5%a4%8d%e6%97%a6%e5%bc%80%e6%ba%90veteranad%ef%bc%9a%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/21\/32317\/","title":{"rendered":"2025-08-21\u611f\u77e5\u548c\u89c4\u5212\u53ef\u4ee5\u8026\u5408\uff1f\u590d\u65e6\u5f00\u6e90VeteranAD\uff1a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u5168\u65b0\u8303\u5f0f\uff01\u8fdc\u8d85DiffusionDrive\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1941793009168515677\">https:\/\/zhuanlan.zhihu.com\/p\/1941793009168515677<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>0. \u8bba\u6587\u4fe1\u606f<\/strong><\/h2>\n\n\n\n<p>\u6807\u9898\uff1aPerception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aBozhou Zhang, Jingyu Li, Nan Song, Li Zhang<\/p>\n\n\n\n<p>\u673a\u6784\uff1aSchool of Data Science, Fudan University\u3001Shanghai Innovation Institute<\/p>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2508.11488\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2508.11488<\/a><\/p>\n\n\n\n<p>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/fudan-zvg\/VeteranAD\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/fudan-zvg\/VeteranAD<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>1. \u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u6b65\u3002\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u9075\u5faa<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=262039633&amp;content_type=Article&amp;match_order=1&amp;q=%E6%84%9F%E7%9F%A5-%E8%A7%84%E5%88%92%E8%8C%83%E5%BC%8F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u611f\u77e5-\u89c4\u5212\u8303\u5f0f<\/a>\uff0c\u5176\u4e2d\u611f\u77e5\u548c\u89c4\u5212\u5728\u5b8c\u5168\u53ef\u5fae\u6846\u67b6\u5185\u987a\u5e8f\u6267\u884c\uff0c\u7528\u4e8e\u9762\u5411\u89c4\u5212\u7684\u4f18\u5316\u3002\u6211\u4eec\u901a\u8fc7\u611f\u77e5-\u8ba1\u5212\u6846\u67b6\u8bbe\u8ba1\u8fdb\u4e00\u6b65\u63a8\u8fdb\u8fd9\u4e00\u8303\u5f0f\uff0c\u5c06\u611f\u77e5\u6574\u5408\u5230\u89c4\u5212\u8fc7\u7a0b\u4e2d\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4fbf\u4e8e\u6839\u636e\u4e0d\u65ad\u6f14\u53d8\u7684\u89c4\u5212\u76ee\u6807\u8fdb\u884c\u6709\u9488\u5bf9\u6027\u7684\u611f\u77e5\uff0c\u6700\u7ec8\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u3002\u57fa\u4e8e\u8fd9\u4e00\u6d1e\u5bdf\uff0c\u6211\u4eec\u5f15\u5165\u4e86VeteranAD\uff0c\u4e00\u4e2a\u8026\u5408\u611f\u77e5\u548c\u89c4\u5212\u7684\u6846\u67b6\uff0c\u7528\u4e8e\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u3002\u901a\u8fc7\u7ed3\u5408\u591a\u6a21\u5f0f\u951a\u5b9a\u8f68\u8ff9\u4f5c\u4e3a\u89c4\u5212\u5148\u9a8c\uff0c\u611f\u77e5\u6a21\u5757\u88ab\u7279\u522b\u8bbe\u8ba1\u4e3a\u6cbf\u7740\u8fd9\u4e9b\u8f68\u8ff9\u6536\u96c6\u4ea4\u901a\u5143\u7d20\uff0c\u5b9e\u73b0\u5168\u9762\u548c\u6709\u9488\u5bf9\u6027\u7684\u611f\u77e5\u3002\u7136\u540e\u6839\u636e\u611f\u77e5\u7ed3\u679c\u548c\u89c4\u5212\u5148\u9a8c\u751f\u6210\u89c4\u5212\u8f68\u8ff9\u3002\u4e3a\u4e86\u4f7f\u611f\u77e5\u5b8c\u5168\u670d\u52a1\u4e8e\u89c4\u5212\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=262039633&amp;content_type=Article&amp;match_order=1&amp;q=%E8%87%AA%E5%9B%9E%E5%BD%92%E7%AD%96%E7%95%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u81ea\u56de\u5f52\u7b56\u7565<\/a><\/p>\n\n\n\n<p>\uff0c\u8be5\u7b56\u7565\u9010\u6b65\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\uff0c\u540c\u65f6\u5728\u6bcf\u4e2a\u6b65\u9aa4\u5173\u6ce8\u76f8\u5173\u533a\u57df\u4ee5\u5b9e\u73b0\u6709\u9488\u5bf9\u6027\u7684\u611f\u77e5\u3002\u51ed\u501f\u8fd9\u79cd\u7b80\u5355\u800c\u6709\u6548\u7684\u8bbe\u8ba1\uff0cVeteranAD\u5145\u5206\u53d1\u6325\u4e86\u9762\u5411\u89c4\u5212\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u6f5c\u529b\uff0c\u5bfc\u81f4\u66f4\u51c6\u786e\u548c\u53ef\u9760\u7684\u9a7e\u9a76\u884c\u4e3a\u3002\u5728NAVSIM\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684VeteranAD\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u539f\u6587\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/nHfGzb7_bxJSOCeqLHgwEA\" target=\"_blank\" rel=\"noreferrer noopener\">\u611f\u77e5\u548c\u89c4\u5212\u53ef\u4ee5\u8026\u5408\uff1f\u590d\u65e6\u5f00\u6e90VeteranAD\uff1a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u5168\u65b0\u8303\u5f0f\uff01\u8fdc\u8d85DiffusionDrive\uff01<\/a><\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2. \u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u4e3b\u9a7e\u9a76\u65b9\u6cd5\u7684\u6bd4\u8f83\u3002\u5148\u524d\u65b9\u6cd5\u4e3b\u8981\u9075\u5faa\u201c\u611f\u77e5-\u89c4\u5212\u201d\u8303\u5f0f\uff0c\u4f9d\u6b21\u6267\u884c\u8fd9\u4e9b\u6a21\u5757\u3002(b)\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684VeteranAD\u5c06\u611f\u77e5\u6574\u5408\u5230\u89c4\u5212\u8fc7\u7a0b\u4e2d\uff0c\u5229\u7528\u89c4\u5212\u5148\u9a8c\u6765\u5f15\u5bfc\u611f\u77e5\uff0c\u5e76\u5229\u7528\u6709\u9488\u5bf9\u6027\u7684\u611f\u77e5\u7ed3\u679c\u6765\u6307\u5bfc\u89c4\u5212\u3002\u8fd9\u79cd\u201c\u89c4\u5212\u4e2d\u7684\u611f\u77e5\u201d\u8303\u5f0f\u589e\u5f3a\u4e86\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\u7684\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-b67b16c78c86eb6fe7a61b51e0ddb5b8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>Bench2Drive\u6570\u636e\u96c6\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u4e0a\u65b9\u56fe\u50cf\u663e\u793a\u7684\u662f\u524d\u89c6\u6444\u50cf\u5934\u89c6\u89d2\uff0c\u800c\u4e0b\u65b9\u56fe\u50cf\u5c55\u793a\u7684\u662f\u9e1f\u77b0\u89c6\u89d2\u3002\u5728\u9e1f\u77b0\u89c6\u89d2\u4e2d\uff0c\u81ea\u6211\u8f66\u8f86\u88ab\u6807\u8bb0\u4e3a\u9ec4\u8272\u6846\u3002\u5728\u6b64\u573a\u666f\u4e2d\uff0c\u5f53\u4e00\u8f86\u5148\u524d\u505c\u653e\u7684\u8f66\u8f86\u5f00\u59cb\u5e76\u5165\u9053\u8def\u65f6\uff0c\u6211\u4eec\u7684\u6a21\u578b\u6210\u529f\u51cf\u901f\u5e76\u907f\u514d\u4e86\u78b0\u649e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-8592f8a7e58228aac5284734f4fb2ca9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3. \u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8fd1\u5e74\u6765\u901a\u8fc7\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u591a\u4e2a\u4efb\u52a1\u7edf\u4e00\u5230\u5355\u4e00\u6846\u67b6\u4e2d\uff0c\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u8fd9\u79cd\u65b9\u5f0f\u6784\u5efa\u4e86\u5b8c\u5168\u53ef\u5fae\u5206\u7684\u7aef\u5230\u7aef\u5b66\u4e60\u7cfb\u7edf\uff0c\u786e\u4fdd\u9762\u5411\u89c4\u5212\u7684\u4f18\u5316\u3002\u8fd9\u4f7f\u5f97\u5728\u5f00\u73af\u89c4\u5212\u4e2d\u5747\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n<p>\u4e3b\u6d41\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u987a\u5e8f\u8303\u5f0f\uff0c\u5373\u5148\u611f\u77e5\u540e\u89c4\u5212\u3002\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=262039633&amp;content_type=Article&amp;match_order=1&amp;q=Transformer&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Transformer<\/a><\/p>\n\n\n\n<p>\u7684\u67b6\u6784\u5e38\u88ab\u7528\u4e8e\u5b9e\u73b0\u6574\u4e2a\u6d41\u7a0b\u7684\u53ef\u5fae\u5206\u6027\uff0c\u4ece\u800c\u652f\u6301\u9762\u5411\u89c4\u5212\u7684\u4f18\u5316\u3002\u7136\u800c\uff0c\u4ec5\u9760\u53ef\u5fae\u5206\u6027\u4e0d\u8db3\u4ee5\u5145\u5206\u53d1\u6325\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u9762\u5411\u89c4\u5212\u4f18\u5316\u7684\u4f18\u52bf\uff0c\u5176\u76ee\u6807\u5728\u4e8e\u786e\u4fdd\u6240\u6709\u524d\u7f6e\u6a21\u5757\uff08\u5982\u611f\u77e5\uff09\u5747\u88ab\u4f18\u5316\u4ee5\u66f4\u597d\u5730\u670d\u52a1\u4e8e\u89c4\u5212\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u4e0a\u8ff0\u5c40\u9650\u6027\uff0c\u6211\u4eec\u63d0\u51fa&#8221;\u611f\u77e5\u878d\u5165\u89c4\u5212&#8221;\u8303\u5f0f\uff0c\u5c06\u611f\u77e5\u6a21\u5757\u96c6\u6210\u5230\u89c4\u5212\u8fc7\u7a0b\u4e2d\u3002\u8fd9\u79cd\u65b9\u5f0f\u4f7f\u611f\u77e5\u6a21\u5757\u80fd\u591f\u6709\u9488\u5bf9\u6027\u5730\u8fd0\u4f5c\uff0c\u4e0e\u89c4\u5212\u9700\u6c42\u4fdd\u6301\u4e00\u81f4\u3002\u57fa\u4e8e\u6b64\u8303\u5f0f\uff0c\u6211\u4eec\u5f15\u5165VeteranAD\u6846\u67b6\u3002\u5728\u8be5\u6846\u67b6\u4e2d\uff0c\u611f\u77e5\u4e0e\u89c4\u5212\u7d27\u5bc6\u8026\u5408\uff0c\u91c7\u7528\u591a\u6a21\u5f0f\u951a\u5b9a\u8f68\u8ff9\u4f5c\u4e3a\u89c4\u5212\u5148\u9a8c\uff0c\u5f15\u5bfc\u611f\u77e5\u6a21\u5757\u6cbf\u9884\u6d4b\u8f68\u8ff9\u6536\u96c6\u4ea4\u901a\u8981\u7d20\uff08\u5982\u8f66\u9053\u548c\u5468\u56f4\u4e3b\u4f53\uff09\uff0c\u5b9e\u73b0\u9762\u5411\u89c4\u5212\u7684\u5168\u5c40\u4e14\u6709\u9488\u5bf9\u6027\u7684\u611f\u77e5\u3002\u4e3a\u5145\u5206\u5c06\u611f\u77e5\u878d\u5165\u89c4\u5212\uff0c\u6211\u4eec\u91c7\u7528\u81ea\u56de\u5f52\u7b56\u7565\u9010\u6b65\u751f\u6210\u672a\u6765\u8f68\u8ff9\u3002\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\uff0c\u6a21\u578b\u5728\u89c4\u5212\u5148\u9a8c\u7684\u5f15\u5bfc\u4e0b\u805a\u7126\u76f8\u5173\u533a\u57df\uff0c\u6267\u884c\u9488\u5bf9\u6027\u611f\u77e5\u5e76\u751f\u6210\u5bf9\u5e94\u6b65\u9aa4\u7684\u89c4\u5212\u8f93\u51fa\u3002\u5728\u6b64\u8303\u5f0f\u4e0b\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e24\u4e2a\u6838\u5fc3\u6a21\u5757\uff1a\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u548c\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u3002\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u5728\u56fe\u50cf\u7279\u5f81\u3001\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u548c\u5468\u56f4\u4e3b\u4f53\u7279\u5f81\u4e09\u4e2a\u7ef4\u5ea6\u4e0a\u534f\u540c\u5de5\u4f5c\uff0c\u5b9e\u73b0\u5bf9\u8f66\u8f86\u3001\u8f66\u9053\u548c\u969c\u788d\u7269\u7b49\u4ea4\u901a\u8981\u7d20\u7684\u5168\u9762\u7406\u89e3\u3002\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u89e3\u7801\u672a\u6765\u8f68\u8ff9\uff0c\u6839\u636e\u611f\u77e5\u7ed3\u679c\u4ece\u8fd1\u5230\u8fdc\u9010\u6b65\u8c03\u6574\u951a\u5b9a\u8f68\u8ff9\uff0c\u786e\u4fdd\u4e0a\u4e0b\u6587\u611f\u77e5\u4e14\u6e10\u8fdb\u4f18\u5316\u7684\u89c4\u5212\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8ff0\u8bbe\u8ba1\uff0cVeteranAD\u5229\u7528\u8f68\u8ff9\u5148\u9a8c\u5b9e\u73b0\u805a\u7126\u5f0f\u611f\u77e5\u548c\u6e10\u8fdb\u5f0f\u89c4\u5212\uff0c\u4ece\u800c\u83b7\u5f97\u5f3a\u5927\u7684\u7aef\u5230\u7aef\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>4. \u4e3b\u8981\u8d21\u732e<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a\uff08i\uff09\u63d0\u51fa\u9075\u5faa&#8221;\u611f\u77e5\u878d\u5165\u89c4\u5212&#8221;\u8303\u5f0f\u7684VeteranAD\u65b0\u578b\u6846\u67b6\uff0c\u5c06\u611f\u77e5\u96c6\u6210\u5230\u89c4\u5212\u8fc7\u7a0b\u4e2d\uff1b\uff08ii\uff09\u8bbe\u8ba1\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u548c\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u4e24\u4e2a\u5173\u952e\u6a21\u5757\uff0c\u5b9e\u73b0\u611f\u77e5\u4e0e\u89c4\u5212\u7684\u7d27\u5bc6\u8026\u5408\uff0c\u5145\u5206\u91ca\u653e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u652f\u6301\u7684\u9762\u5411\u89c4\u5212\u4f18\u5316\u4f18\u52bf\uff1b\uff08iii\uff09\u5728NAVSIM\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cVeteranAD\u8fbe\u5230\u4e86\u4e1a\u754c\u9886\u5148\u6c34\u5e73\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>5. \u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4ee5\u4f20\u611f\u5668\u6570\u636e\uff08\u5982\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\uff09\u4e3a\u8f93\u5165\uff0c\u751f\u6210\u672a\u6765\u89c4\u5212\u8f68\u8ff9\u4e3a\u8f93\u51fa\u3002\u89c4\u5212\u4efb\u52a1\u901a\u5e38\u6d89\u53ca\u751f\u6210\u591a\u6a21\u5f0f\u8f68\u8ff9\u4ee5\u8868\u793a\u591a\u79cd\u53ef\u80fd\u7684\u672a\u6765\u65b9\u6848\u3002\u68c0\u6d4b\u3001\u5730\u56fe\u5206\u5272\u548c\u5468\u56f4\u4e3b\u4f53\u8fd0\u52a8\u9884\u6d4b\u7b49\u8f85\u52a9\u4efb\u52a1\u4e5f\u88ab\u96c6\u6210\u5230\u7aef\u5230\u7aef\u6a21\u578b\u4e2d\uff0c\u5e2e\u52a9\u6a21\u578b\u66f4\u597d\u5730\u5b66\u4e60\u573a\u666f\u7279\u5f81\u4ee5\u83b7\u5f97\u5b89\u5168\u7684\u89c4\u5212\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>VeteranAD\u7684\u6846\u67b6\u5982\u56fe2\u6240\u793a\uff0c\u5305\u542b\u4e09\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a\u56fe\u50cf\u7f16\u7801\u5668\u3001\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u548c\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u3002\u9996\u5148\uff0c\u56fe\u50cf\u7f16\u7801\u5668\u4ece\u591a\u89c6\u89d2\u56fe\u50cf\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u751f\u6210\u56fe\u50cf\u7279\u5f81\u3001BEV\u7279\u5f81\u548c\u5468\u56f4\u4e3b\u4f53\u7279\u5f81\u3002\u63a5\u4e0b\u6765\uff0c\u4ece\u951a\u5b9a\u8f68\u8ff9\u521d\u59cb\u5316\u591a\u6a21\u5f0f\u8f68\u8ff9\u67e5\u8be2\u3002\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u5728\u8f68\u8ff9\u67e5\u8be2\u4e0e\u63d0\u53d6\u7684\u56fe\u50cf\u3001BEV\u548c\u4e3b\u4f53\u7279\u5f81\u4e4b\u95f4\u6267\u884c\u4f4d\u7f6e\u5f15\u5bfc\u7684\u4ea4\u53c9\u6ce8\u610f\u3002\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u968f\u540e\u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u8fd0\u884c\uff0c\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u6267\u884c\u611f\u77e5\u5e76\u76f8\u5e94\u8c03\u6574\u951a\u5b9a\u8f68\u8ff9\u70b9\uff0c\u6700\u7ec8\u751f\u6210\u5b8c\u6574\u7684\u89c4\u5212\u8f93\u51fa\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-a5acbb8042aebb0efa7d9d14c63af395_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>6. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-29ed4bbcda1bf54d2e2c7bb4ff2317ab_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>7. \u603b\u7ed3 &amp; \u672a\u6765\u5de5\u4f5c<\/strong><\/h2>\n\n\n\n<p>\u672c\u7814\u7a76\u63d0\u51faVeteranAD\u2014\u2014\u4e00\u79cd\u57fa\u4e8e&#8221;\u611f\u77e5\u878d\u5165\u89c4\u5212&#8221;\u8303\u5f0f\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u5c06\u611f\u77e5\u7d27\u5bc6\u96c6\u6210\u5230\u89c4\u5212\u8fc7\u7a0b\u4e2d\u3002\u901a\u8fc7\u5229\u7528\u591a\u6a21\u5f0f\u951a\u5b9a\u8f68\u8ff9\u4f5c\u4e3a\u89c4\u5212\u5148\u9a8c\uff0c\u89c4\u5212\u611f\u77e5\u5168\u606f\u611f\u77e5\u6a21\u5757\u5b9e\u73b0\u5bf9\u4ea4\u901a\u573a\u666f\u7684\u9488\u5bf9\u6027\u5168\u5c40\u7406\u89e3\uff0c\u800c\u5c40\u90e8\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u5219\u6839\u636e\u611f\u77e5\u53cd\u9988\u9010\u6b65\u4f18\u5316\u672a\u6765\u8f68\u8ff9\u3002\u5728NAVSIM\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cVeteranAD\u8fbe\u5230\u4e86\u4e1a\u754c\u9886\u5148\u6c34\u5e73\u3002<\/p>\n\n\n\n<p>\u5c40\u9650\u6027\u4e0e\u672a\u6765\u5de5\u4f5c\u3002\u672c\u6a21\u578b\u7684\u5c40\u9650\u6027\u6e90\u4e8e\u5176\u95ed\u73af\u4eff\u771f\u80fd\u529b\u7684\u9650\u5236\uff0c\u8fd9\u662f\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u9762\u4e34\u7684\u5171\u540c\u6311\u6218\u3002\u672a\u6765\uff0c\u5f15\u5165\u5f3a\u5316\u5b66\u4e60\u53ef\u80fd\u6709\u52a9\u4e8e\u63d0\u5347\u89c4\u5212\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-32317","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\/32317"}],"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=32317"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32317\/revisions"}],"predecessor-version":[{"id":32318,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32317\/revisions\/32318"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=32317"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=32317"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=32317"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}