{"id":33666,"date":"2025-10-14T17:28:17","date_gmt":"2025-10-14T09:28:17","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33666"},"modified":"2025-10-14T17:28:17","modified_gmt":"2025-10-14T09:28:17","slug":"2025-10-14-%e5%9c%b0%e5%b9%b3%e7%ba%bf%e6%ae%8b%e5%b7%ae%e7%ab%af%e5%88%b0%e7%ab%af%e6%98%af%e5%a6%82%e4%bd%95%e5%ae%9e%e7%8e%b0%e7%9a%84%ef%bc%9fresad%ef%bc%9a%e6%ae%8b%e5%b7%ae%e5%ad%a6%e4%b9%a0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/14\/33666\/","title":{"rendered":"2025-10-14 \u5730\u5e73\u7ebf\u6b8b\u5dee\u7aef\u5230\u7aef\u662f\u5982\u4f55\u5b9e\u73b0\u7684\uff1fResAD\uff1a\u6b8b\u5dee\u5b66\u4e60\u8ba9\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u66f4\u63a5\u8fd1\u4eba\u7c7b\u903b\u8f91"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/hUnUdDNTvB7-uU8TBMNyZg\">https:\/\/mp.weixin.qq.com\/s\/hUnUdDNTvB7-uU8TBMNyZg<\/a><\/p>\n\n\n\n<p>\u60f3\u8ba9\u8f66\u5b50\u81ea\u5df1\u5f00\uff0c\u4f20\u7edf\u65b9\u6cd5\u5f97\u50cf\u642d\u79ef\u6728\uff1a\u5148\u201c\u770b\u201d\uff08\u611f\u77e5\uff09\uff0c\u518d\u201c\u731c\u201d\uff08\u9884\u6d4b\uff09\uff0c\u6700\u540e\u201c\u505a\u51b3\u5b9a\u201d\uff08\u89c4\u5212\uff09\u3002\u8fd9\u5957\u6d41\u7a0b\u73af\u73af\u76f8\u6263\uff0c\u4e00\u4e2a\u73af\u8282\u51fa\u9519\uff0c\u540e\u9762\u5168\u8ddf\u7740\u9519\uff0c\u65e2\u4e0d\u9ad8\u6548\uff0c\u4e5f\u4e0d\u5b89\u5168\u3002<\/p>\n\n\n\n<p>\u4e8e\u662f\uff0c<strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong>&nbsp;\u6210\u4e86\u4e00\u6761\u65b0\u8def\u3002\u5b83\u60f3\u8ba9AI\u50cf\u8001\u53f8\u673a\u4e00\u6837\uff0c\u76f4\u63a5\u628a\u770b\u5230\u7684\uff08\u4f20\u611f\u5668\u6570\u636e\uff09\u53d8\u6210\u8981\u8d70\u7684\u8def\u7ebf\uff08\u672a\u6765\u8f68\u8ff9\uff09\u3002\u60f3\u6cd5\u5f88\u7f8e\u597d\uff0c\u4f46\u73b0\u5b9e\u5f88\u9aa8\u611f\uff1a\u73b0\u6709\u7684\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u5927\u591a\u5728\u6b7b\u78d5\u4e00\u4e2a\u95ee\u9898\u2014\u2014<strong>\u201c\u672a\u6765\u7684\u8f68\u8ff9\u957f\u5565\u6837\uff1f\u201d<\/strong><\/p>\n\n\n\n<p>\u8fd9\u5e26\u6765\u4e86\u4e24\u5927\u9ebb\u70e6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u56e0\u679c\u6df7\u6dc6<\/strong>\uff1a\u6a21\u578b\u53ef\u80fd\u4f1a\u201c\u5077\u61d2\u201d\uff0c\u5b66\u4e00\u4e9b\u8868\u9762\u529f\u592b\u3002\u6bd4\u5982\u5b83\u770b\u5230\u524d\u8f66\u5239\u8f66\u706f\u4eae\u5c31\u5239\u8f66\uff0c\u4f46\u6839\u672c\u4e0d\u7406\u89e3\u662f\u56e0\u4e3a\u8def\u53e3\u53d8\u7ea2\u706f\u4e86\u3002\u7ed3\u679c\u53ef\u80fd\u8ddf\u7740\u524d\u8f66\u4e00\u8d77\u95ef\u7ea2\u706f\uff0c\u975e\u5e38\u5371\u9669\u3002<\/li>\n\n\n\n<li><strong>\u89c4\u5212\u56f0\u5883<\/strong>\uff1a\u89c4\u5212\u672a\u6765\u8d8a\u4e45\uff0c\u4e0d\u786e\u5b9a\u6027\u8d8a\u5927\u3002\u6a21\u578b\u4e3a\u4e86\u201c\u8499\u5bf9\u201d\u9065\u8fdc\u672a\u6765\u7684\u5927\u504f\u5dee\uff0c\u53cd\u800c\u5ffd\u7565\u4e86\u773c\u524d\u6700\u7d27\u8981\u3001\u6700\u9700\u8981\u7cbe\u786e\u7684\u8c03\u6574\uff0c\u8fd9\u53eb\u201c\u6361\u4e86\u829d\u9ebb\u4e22\u897f\u74dc\u201d\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u5730\u5e73\u7ebf\u3001\u534e\u79d1\u548c\u6b66\u5927\u7684\u56e2\u961f\u63d0\u51fa\u4e86&nbsp;<strong>ResAD<\/strong>&nbsp;\u6846\u67b6\u3002\u6838\u5fc3\u601d\u60f3\u5f88\u7b80\u5355\uff1a<strong>\u4e0d\u76f4\u63a5\u9884\u6d4b\u6574\u6761\u8f68\u8ff9\uff0c\u800c\u662f\u5148\u7ed9\u4e00\u4e2a\u201c\u60ef\u6027\u53c2\u8003\u7ebf\u201d\u2014\u2014\u5c31\u662f\u8f66\u5b50\u5982\u679c\u4e0d\u52a8\u65b9\u5411\u76d8\u4f1a\u8d70\u7684\u8def\u7ebf\u3002\u7136\u540e\uff0c\u8ba9\u6a21\u578b\u53ea\u5b66\u4e60\u4e00\u4e2a\u201c\u8c03\u6574\u91cf\u201d\uff08\u6b8b\u5dee\uff09\uff0c\u5373\u4e3a\u4e86\u5b89\u5168\u884c\u9a76\uff0c\u9700\u8981\u504f\u79bb\u8fd9\u6839\u53c2\u8003\u7ebf\u591a\u5c11\u3002<\/strong><\/p>\n\n\n\n<p>\u8fd9\u6837\u4e00\u6765\uff0c\u5b66\u4e60\u76ee\u6807\u5c31\u4ece&nbsp;<strong>\u201c\u8f68\u8ff9\u662f\u4ec0\u4e48\uff1f\u201d<\/strong>&nbsp;\u53d8\u6210\u4e86&nbsp;<strong>\u201c\u4e3a\u4ec0\u4e48\u8981\u8c03\u6574\u65b9\u5411\uff1f\u201d<\/strong>\u3002\u6a21\u578b\u88ab\u8feb\u53bb\u5173\u6ce8\u90a3\u4e9b\u5bfc\u81f4\u8c03\u6574\u7684\u771f\u5b9e\u539f\u56e0\uff0c\u6bd4\u5982\u969c\u788d\u7269\u3001\u4ea4\u901a\u89c4\u5219\u7b49\uff0c\u800c\u4e0d\u662f\u6b7b\u8bb0\u786c\u80cc\u6570\u636e\u91cc\u7684\u5de7\u5408\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u8fd8\u5f15\u5165\u4e86&nbsp;<strong>\u9010\u70b9\u6b8b\u5dee\u5f52\u4e00\u5316<\/strong>\uff0c\u786e\u4fdd\u6a21\u578b\u4e0d\u4f1a\u56e0\u4e3a\u8981\u7ea0\u6b63\u9065\u8fdc\u7684\u3001\u4e0d\u786e\u5b9a\u7684\u5927\u504f\u5dee\uff0c\u800c\u5ffd\u7565\u4e86\u8fd1\u5904\u5173\u952e\u7684\u5c0f\u8c03\u6574\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"657\" height=\"840\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-95.png\" alt=\"\" class=\"wp-image-33668\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-95.png 657w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-95-235x300.png 235w\" sizes=\"(max-width: 657px) 100vw, 657px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u8bc1\u660e\uff0c\u8fd9\u5957\u65b9\u6cd5\u975e\u5e38\u6709\u6548\u3002\u5728 NAVSIM \u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cResAD\u53d6\u5f97\u4e86\u9886\u5148\u7684\u6210\u7ee9\u3002\u8fd9\u8bf4\u660e\uff0c\u901a\u8fc7\u5f15\u5165\u201c\u60ef\u6027\u53c2\u8003\u201d\u8fd9\u4e2a\u7269\u7406\u5e38\u8bc6\uff0c\u5e76\u8ba9\u6a21\u578b\u4e13\u6ce8\u4e8e\u5b66\u4e60\u201c\u4e3a\u4f55\u8981\u6539\u53d8\u201d\uff0c\u6211\u4eec\u8ba9\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u5b66\u4e60\u4efb\u52a1\u53d8\u5f97\u66f4\u7b80\u5355\u3001\u66f4\u5b89\u5168\u3001\u66f4\u53ef\u9760\u3002<\/p>\n\n\n\n<p>ResAD\u4e5f\u63d0\u4f9b\u4e86\u5b9e\u8f66\u6d4b\u8bd5\u89c6\u9891\uff0c\u5728\u8fd120 \u949f\u89c6\u9891\u4e2d\uff0c\u672c\u65b9\u6cd5\u5c55\u73b0\u51fa\u4f18\u79c0\u7684\u53ef\u884c\u6027\u4e0e\u7cfb\u7edf\u53ef\u9760\u6027\u3002\u6d4b\u8bd5\u573a\u666f\u4e0d\u4ec5\u6db5\u76d6\u5bbd\u9614\u5e73\u76f4\u7684\u9053\u8def\uff0c\u4e5f\u5305\u62ec\u65bd\u5de5\u8def\u6bb5\u501f\u9053\u7ed5\u884c\u7b49\u590d\u6742\u60c5\u5f62\uff0c\u81ea\u8f66\u5747\u80fd\u7a33\u5b9a\u3001\u987a\u7545\u5730\u901a\u8fc7\u3002\u66f4\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u7cfb\u7edf\u5728\u9762\u5bf9\u52a8\u6001\u969c\u788d\u65f6\u7684\u667a\u80fd\u54cd\u5e94\uff1a\u5f53\u65c1\u4fa7\u516c\u4ea4\u8f66\u7a81\u7136\u5207\u5165\u65f6\uff0c\u81ea\u8f66\u80fd\u591f\u5e73\u7a33\u51cf\u901f\u8ba9\u884c\uff1b\u800c\u5f53\u524d\u65b9\u8f66\u8f86\u884c\u9a76\u7f13\u6162\u65f6\uff0c\u53c8\u80fd\u4e3b\u52a8\u6267\u884c\u7ed5\u884c\u8d85\u8f66\u3002\u8fd9\u4e9b\u8d34\u8fd1\u771f\u5b9e\u9a7e\u9a76\u903b\u8f91\u7684\u51b3\u7b56\u884c\u4e3a\uff0c\u4e0e\u4f5c\u8005\u6240\u63d0\u51fa\u7684\u201c\u9010\u70b9\u6b8b\u5dee\u5f52\u4e00\u5316\u201d\u673a\u5236\u5bc6\u5207\u76f8\u5173\u2014\u2014\u5b83\u4f7f\u6a21\u578b\u80fd\u591f\u66f4\u7cbe\u51c6\u5730\u5173\u6ce8\u8fd1\u8ddd\u79bb\u7684\u8f68\u8ff9\u8c03\u6574\uff0c\u4ece\u800c\u5728\u5173\u952e\u65f6\u523b\u505a\u51fa\u65e2\u5b89\u5168\u53c8\u62df\u4eba\u7684\u64cd\u4f5c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u9898\u76ee: ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2510.08562<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65e8\u5728\u514b\u670d\u4f20\u7edf\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\u7684\u5c40\u9650\u6027\uff0c\u4f8b\u5982\u8bef\u5dee\u7d2f\u79ef\u548c\u6a21\u5757\u95f4\u4fe1\u606f\u4e22\u5931\u3002\u50cf UniAD \u8fd9\u6837\u7684\u5f00\u521b\u6027\u5de5\u4f5c\u5f15\u5165\u4e86\u4e00\u79cd\u9762\u5411\u89c4\u5212\u7684\u67b6\u6784\uff0c\u901a\u8fc7\u8054\u5408\u4f18\u5316\u611f\u77e5\u548c\u9884\u6d4b\u6765\u51cf\u8f7b\u8bef\u5dee\u4f20\u64ad\u3002VAD \u5219\u901a\u8fc7\u5b8c\u5168\u5411\u91cf\u5316\u7684\u573a\u666f\u8868\u5f81\u8fdb\u4e00\u6b65\u7b80\u5316\u4e86\u6d41\u7a0b\uff0c\u4f7f\u5f97\u80fd\u591f\u5f3a\u5236\u6267\u884c\u663e\u5f0f\u7684\u3001\u5b9e\u4f8b\u7ea7\u7684\u5b89\u5168\u7ea6\u675f\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u751f\u6210\u5f0f\u6a21\u578b\u6210\u4e3a\u4e86 E2EAD \u7814\u7a76\u7684\u65b0\u524d\u6cbf\u3002\u4f8b\u5982\uff0cGoalFlow \u63d0\u51fa\u4e86\u4e00\u79cd\u76ee\u6807\u6761\u4ef6\u7684\u751f\u6210\u6a21\u578b\uff0c\u5b83\u9996\u5148\u6839\u636e\u573a\u666f\u4e0a\u4e0b\u6587\u9009\u62e9\u4e00\u4e2a\u6700\u4f18\u76ee\u6807\u70b9\uff0c\u7136\u540e\u4f7f\u7528\u6d41\u5339\u914d\u6765\u9ad8\u6548\u5730\u751f\u6210\u671d\u5411\u8be5\u70b9\u7684\u9ad8\u8d28\u91cf\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u4ecd\u4f9d\u8d56\u4e8e\u5bf9\u672a\u6765\u8f68\u8ff9\u7684\u76f4\u63a5\u9884\u6d4b\u3002\u5728\u672c\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u8131\u79bb\u4e86\u8fd9\u4e00\u8303\u5f0f\uff0c\u5f15\u5165\u4e86<strong>\u5f52\u4e00\u5316\u6b8b\u5dee\u8f68\u8ff9\u5efa\u6a21<\/strong>\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u901a\u8fc7\u5c06\u8f68\u8ff9\u5206\u89e3\u4e3a\u4e00\u4e2a\u57fa\u4e8e\u7269\u7406\u7684\u60ef\u6027\u53c2\u8003\u548c\u4e00\u4e2a\u53ef\u5b66\u4e60\u7684\u6b8b\u5dee\uff0c\u4e3a\u8f68\u8ff9\u8868\u5f81\u63d0\u4f9b\u4e86\u4e00\u79cd\u66f4\u5177\u7ed3\u6784\u6027\u548c\u53ef\u89e3\u91ca\u6027\u7684\u65b0\u601d\u8def\u3002<\/p>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u89c4\u5212<\/strong><\/p>\n\n\n\n<p>\u5927\u591a\u6570 E2EAD \u7cfb\u7edf\u53ea\u4ea7\u751f\u5355\u4e00\u3001\u786e\u5b9a\u7684\u8f68\u8ff9\uff0c\u8fd9\u79cd\u65b9\u6cd5\u96be\u4ee5\u5e94\u5bf9\u73b0\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\u56fa\u6709\u7684\u591a\u6837\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4e00\u4e9b\u7814\u7a76\u63a2\u7d22\u4e86\u591a\u6a21\u6001\u89c4\u5212\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>VADv2 \u63d0\u51fa\u4e86\u4e00\u4e2a\u6982\u7387\u89c4\u5212\u6846\u67b6\uff0c\u8f93\u51fa\u672a\u6765\u8f68\u8ff9\u7684\u5206\u5e03\uff0c\u901a\u8fc7\u91c7\u6837\u53ef\u4ee5\u4ea7\u751f\u591a\u6837\u5316\u7684\u884c\u4e3a\u3002<\/li>\n\n\n\n<li>Hydra-MDP \u7cfb\u5217\u91c7\u7528\u7b56\u7565\u84b8\u998f\uff0c\u4ece\u4e00\u4e2a\u7531\u4e13\u5bb6\u5f15\u5bfc\u7684\u8f68\u8ff9\u201c\u8bcd\u5e93\u201d\u4e2d\u9009\u62e9\u591a\u4e2a\u8f68\u8ff9<\/li>\n\n\n\n<li>GTRS \u91c7\u7528\u4e86\u4e0d\u540c\u7684\u7b56\u7565\uff0c\u901a\u8fc7\u7ed9\u4e00\u7ec4\u9884\u5148\u751f\u6210\u7684\u8f68\u8ff9\u6253\u5206\u6765\u786e\u4fdd\u591a\u6837\u6027\u548c\u5b89\u5168\u6027\u3002<\/li>\n\n\n\n<li>DiffusionDrive \u5219\u5173\u6ce8\u751f\u6210\u5f0f\u6a21\u578b\u4e2d\u7684\u201c\u6a21\u5f0f\u5d29\u6e83\u201d\u95ee\u9898\uff0c\u901a\u8fc7\u5c06\u8f68\u8ff9\u751f\u6210\u951a\u5b9a\u5230\u4e00\u4e2a\u56fa\u5b9a\u7684\u805a\u7c7b\u8bcd\u5e93\u6765\u89e3\u51b3\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ece\u6839\u672c\u4e0a\u90fd\u4f9d\u8d56\u4e8e\u4e00\u4e2a\u9759\u6001\u7684\u3001\u9884\u5b9a\u4e49\u7684\u8bcd\u5e93\u3002\u8fd9\u5bfc\u81f4\u5b83\u4eec\u6548\u7387\u4f4e\u4e0b\u4e14\u53d7\u9650\uff0c\u56e0\u4e3a\u5b83\u4eec\u9700\u8981\u8bc4\u4f30\u5927\u91cf\u4e0d\u76f8\u5173\u7684\u9009\u9879\uff0c\u540c\u65f6\u53c8\u65e0\u6cd5\u751f\u6210\u8bcd\u5e93\u4e4b\u5916\u7684\u3001\u771f\u6b63\u6700\u4f18\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u4e0e\u5b83\u4eec\u4e0d\u540c\uff0c<strong>ResAD<\/strong>&nbsp;\u5f97\u76ca\u4e8e\u5176\u72ec\u7279\u7684\u8f68\u8ff9\u5efa\u6a21\u7b56\u7565\uff0c\u80fd\u591f\u76f4\u63a5\u4ece\u9ad8\u65af\u566a\u58f0\u4e2d\u53bb\u566a\uff0c\u4ece\u800c\u4ea7\u751f\u66f4\u4f18\u7684\u3001\u4e0e\u4e0a\u4e0b\u6587\u76f8\u5173\u7684\u591a\u6a21\u6001\u8f68\u8ff9\uff0c\u6446\u8131\u4e86\u5bf9\u56fa\u5b9a\u8bcd\u5e93\u7684\u4f9d\u8d56\u3002<\/p>\n\n\n\n<p><strong>\u65b9\u6cd5\u8bba<\/strong><\/p>\n\n\n\n<p><strong>\u57fa\u7840\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"421\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101401.png\" alt=\"\" class=\"wp-image-33669\" style=\"width:904px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101401.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101401-300x184.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u5f52\u4e00\u5316\u6b8b\u5dee\u8f68\u8ff9\u5efa\u6a21<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe 2 \u6240\u793a\uff0cResAD \u4ee5\u591a\u89c6\u89d2\u56fe\u50cf\u548c LiDAR \u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\uff0c\u901a\u8fc7\u4e00\u4e2a Transfuser \u98ce\u683c\u7684\u7f16\u7801\u5668\u8fdb\u884c\u878d\u5408\u3002\u6211\u4eec\u4ece\u81ea\u8f66\u72b6\u6001\u751f\u6210\u4e00\u4e2a\u60ef\u6027\u53c2\u8003\u3002ResAD\u968f\u540e\u5c06\u8fd9\u4e2a\u53c2\u8003\u6270\u52a8\u6210\u4e00\u4e2a\u7c07\uff0c\u4ee5\u786e\u4fdd\u5bf9\u72b6\u6001\u566a\u58f0\u7684\u9c81\u68d2\u6027\u5e76\u5b9e\u73b0\u591a\u6a21\u6001\u9884\u6d4b\u3002\u6269\u6563\u89e3\u7801\u5668\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u6765\u878d\u5408\u7f16\u7801\u540e\u7684\u7279\u5f81\uff0c\u5e76\u4f7f\u7528\u60ef\u6027\u53c2\u8003\u7c07\u4f5c\u4e3a\u6761\u4ef6\u6765\u6307\u5bfc\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"522\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-96-1024x522.png\" alt=\"\" class=\"wp-image-33670\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-96-1024x522.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-96-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-96-768x392.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-96.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u6b8b\u5dee\u5efa\u6a21<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"386\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101402.png\" alt=\"\" class=\"wp-image-33671\" style=\"width:908px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101402.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101402-300x169.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u9010\u70b9\u6b8b\u5dee\u5f52\u4e00\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"488\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101403.png\" alt=\"\" class=\"wp-image-33672\" style=\"width:905px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101403.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101403-300x213.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u60ef\u6027\u53c2\u8003\u6270\u52a8<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"446\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101404.png\" alt=\"\" class=\"wp-image-33673\" style=\"width:906px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101404.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101404-300x195.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u4e0e\u63a8\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"478\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101405.png\" alt=\"\" class=\"wp-image-33674\" style=\"width:905px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101405.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101405-300x208.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u8f68\u8ff9\u6392\u5e8f\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"440\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101406.png\" alt=\"\" class=\"wp-image-33675\" style=\"width:907px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101406.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101406-300x192.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u57fa\u51c6\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"450\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101407.png\" alt=\"\" class=\"wp-image-33676\" style=\"width:905px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101407.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101407-300x196.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u8868 1 \u4e2d\u7684\u7ed3\u679c\u663e\u793a\uff0cResAD \u5728 NAVSIM v1 navtest \u5206\u5272\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0cPDMS \u4e3a 88.6\u3002\u6211\u4eec\u7684 NC \u4e3a 98.0\uff0c\u4e0e\u6700\u9ad8\u5206\u76f8\u5f53\uff0c\u901a\u8fc7\u6700\u5c0f\u5316\u78b0\u649e\u786e\u4fdd\u4e86\u9ad8\u6c34\u5e73\u7684\u5b89\u5168\u6027\u3002\u6211\u4eec\u7684\u6a21\u578b\u5b9e\u73b0\u7684 EP \u4e3a 82.5\uff0c\u662f\u4e00\u4e2a\u663e\u8457\u7684\u7ed3\u679c\uff0c\u8868\u660e\u8def\u7ebf\u5b8c\u6210\u6548\u7387\u9ad8\u3002ResAD \u5728 DAC \u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u5f97\u5206\u4e3a 97.3\uff0c\u4f18\u4e8e WoTE \u7684 96.8\u3002\u8fd9\u8868\u660e\u6211\u4eec\u7684\u6a21\u578b\u66f4\u4e25\u683c\u5730\u9075\u5b88\u8f66\u9053\u8fb9\u754c\u548c\u53ef\u884c\u9a76\u533a\u57df\uff0c\u8fd9\u662f\u5b89\u5168\u4e14\u53ef\u9884\u6d4b\u7684\u9a7e\u9a76\u884c\u4e3a\u7684\u5173\u952e\u65b9\u9762\u3002\u5728\u66f4\u5177\u6311\u6218\u6027\u7684 NAVSIM v2 \u57fa\u51c6\u4e0a\uff0cResAD \u7684\u4f18\u52bf\u8fdb\u4e00\u6b65\u6269\u5927\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"517\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-97-1024x517.png\" alt=\"\" class=\"wp-image-33677\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-97-1024x517.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-97-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-97-768x388.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-97.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u8868 2 \u6240\u793a\uff0cResAD \u5728\u51e0\u4e4e\u6240\u6709\u6269\u5c55\u5b50\u6307\u6807\u4e0a\u90fd\u53d6\u5f97\u4e86\u6700\u4f73\u6216\u6b21\u4f73\u6027\u80fd\u3002\u5177\u4f53\u6765\u8bf4\uff0cResAD \u7684 EPDMS \u4e3a 85.5\uff0c\u6bd4 DiffusionDrive \u9ad8\u51fa 1.0\u3002\u5b83\u7684 EP \u5f97\u5206\u66f4\u9ad8\uff0c\u4e3a 88.2\uff08\u5bf9\u6bd4 87.5\uff09\uff0c\u8868\u660e\u5b83\u80fd\u66f4\u6709\u6548\u5730\u5b8c\u6210\u8def\u7ebf\u3002\u6b64\u5916\uff0c\u5b83\u5728 DAC \u65b9\u9762\u663e\u793a\u51fa\u663e\u8457\u4f18\u52bf\uff0c\u5f97\u5206\u4e3a 97.2 \u5bf9\u6bd4 95.9\uff0c\u8bc1\u5b9e\u4e86\u5176\u751f\u6210\u66f4\u7cbe\u786e\u8f68\u8ff9\u3001\u66f4\u597d\u9075\u5b88\u8f66\u9053\u8fb9\u754c\u7684\u80fd\u529b\u3002ResAD \u8fd8\u8868\u73b0\u51fa\u66f4\u7cbe\u7ec6\u7684\u8f66\u8f86\u64cd\u63a7\u80fd\u529b\uff0c\u5728 LK \u4e0a\u5f97\u5206\u7565\u9ad8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"296\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-98-1024x296.png\" alt=\"\" class=\"wp-image-33678\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-98-1024x296.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-98-300x87.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-98-768x222.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-98.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u5728 NAVSIM \u4e0a\u7684\u5b9a\u6027\u6bd4\u8f83\uff08\u56fe 3\uff09\u7a81\u51fa\u4e86 ResAD \u548c DiffusionDrive \u7684\u4e0d\u540c\u591a\u6a21\u6001\u7b56\u7565\u3002\u867d\u7136\u4e24\u8005\u90fd\u6210\u529f\u907f\u514d\u4e86\u5178\u578b\u666e\u901a\u6269\u6563\u6a21\u578b\u7684\u6a21\u5f0f\u5d29\u6e83\uff0c\u4f46\u5b83\u4eec\u7684\u57fa\u672c\u65b9\u6cd5\u5b58\u5728\u663e\u8457\u5dee\u5f02\u3002DiffusionDrive 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