{"id":38326,"date":"2026-03-26T17:33:23","date_gmt":"2026-03-26T09:33:23","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38326"},"modified":"2026-03-26T17:33:23","modified_gmt":"2026-03-26T09:33:23","slug":"2026-03-26-%e6%b5%99%e6%b1%9f%e5%a4%a7%e5%ad%a6%e6%96%b0%e5%8a%a0%e5%9d%a1%e5%9b%bd%e7%ab%8b%e5%a4%a7%e5%ad%a6%e8%81%94%e5%90%88udeer-ai%e6%8e%a8%e5%87%badynflowdrive%ef%bc%9a%e6%b5%81%e6%a8%a1","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/26\/38326\/","title":{"rendered":"2026-03-26 \u6d59\u6c5f\u5927\u5b66&\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\u8054\u5408Udeer.AI\u63a8\u51faDynFlowDrive\uff1a\u6d41\u6a21\u578b\u9a71\u52a8\u81ea\u52a8\u9a7e\u9a76\u52a8\u6001\u4e16\u754c\u5efa\u6a21\uff0c\u6027\u80fd\u63d0\u5347\u65e0\u989d\u5916\u5f00\u9500\uff01"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/1WiRaqgToTFMDkBu9nQdlw<\/a><\/p>\n\n\n\n

\u8bba\u6587\u5361\u7247<\/p>\n\n\n\n

DynFlowDrive\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u6d41\u6a21\u578b\u7684\u52a8\u6001\u6f5c\u5728\u4e16\u754c\u6a21\u578b\uff0c\u901a\u8fc7\u663e\u5f0f\u5efa\u6a21\u8f68\u8ff9\u6761\u4ef6\u4e0b\u7684\u573a\u666f\u52a8\u6001\u6f14\u5316\u548c\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u9009\u62e9\u7b56\u7565\uff0c\u663e\u8457\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8f68\u8ff9\u89c4\u5212\u53ef\u9760\u6027\u4e0e\u5b89\u5168\u6027\u3002<\/strong><\/p>\n\n\n\n

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

\u8bba\u6587\u6846\u67b6: Overview of DynFlowDrive. Given current observations, multi-mode trajectories are firstly generated by the standard planning module. A flow-based dynamic latent world model is incorporated to simulate the progressive future evolution in latent space. The resulting dynamics are used by a stability-aware multi-mode selection module, which assess the trajectory based on reconstruction quality and flow-based stability, enabling reliable supervision and improved planning robustness.<\/p>\n\n\n\n

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

\u8bba\u6587\u6548\u679c: (a) Comparisons of perception-based and latent world model-based approaches on nuScenes and NavSim benchmarks. (b) Planning visualization on the front view and bird\u2019s-eye-view (BEV) space. Our DynFlowDrive achieves comparable performance.<\/p>\n\n\n\n

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

\u4e3b\u8981\u7ed3\u679c: Comparison of the SOTA methods on the nuScenes dataset. \u201c\u2217\u201d denotes the re-implemented result from SSR [23] by official public codes. \u201c denotes using ego status in the planning module following BEVPlanner [30]. Evaluations are conducted in the same way as the settings in VAD [20]. Our DynFLowDrive are implemented based on LAW [24] and SSR. LAW adopts Swin-Tiny [38] as image backbone, while others adopt ResNet-50 [15]<\/p>\n\n\n\n

\u8bba\u6587\u4fe1\u606f<\/p>\n\n\n\n

\u6807\u9898<\/strong>: DynFlowDrive: Flow-Based Dynamic World Modeling for Autonomous Driving<\/p>\n\n\n\n

\u4ee3\u7801<\/strong>: https:\/\/github.com\/xiaolul2\/DynFlowDrive<\/p>\n\n\n\n

\u8bba\u6587<\/strong>: https:\/\/arxiv.org\/abs\/2603.19675v1<\/p>\n\n\n\n

\u9644\u8a00<\/strong>: 18 pages, 6 figs<\/p>\n\n\n\n

\u4f5c\u8005<\/strong>: Xiaolu Liu, Yicong Li, Song Wang, Junbo Chen, Angela Yao, Jianke Zhu<\/p>\n\n\n\n

\u5355\u4f4d<\/strong>: \u6d59\u6c5f\u5927\u5b66, \u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66, Udeer.AI<\/p>\n\n\n\n

\u65e5\u671f<\/strong>: 2026-03-20 06:19:31<\/p>\n\n\n\n

\u9886\u57df<\/strong>: Computer Vision and Pattern Recognition (cs.CV)<\/code>, Robotics (cs.RO)<\/code><\/p>\n\n\n\n

\u9875\u6570<\/strong>: 18 pages, 6 figures, 6 tables<\/p>\n\n\n\n

\u8bba\u6587\u6982\u8ff0<\/p>\n\n\n\n

\u7814\u7a76\u80cc\u666f\u4e0e\u95ee\u9898<\/p>\n\n\n\n

\u5f53\u524d\u7814\u7a76\u9886\u57df\u7684\u80cc\u666f<\/strong>
\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u4e16\u754c\u6a21\u578b\uff08World Model\uff09\u88ab\u7528\u4e8e\u9884\u6d4b\u672a\u6765\u573a\u666f\u6f14\u5316\u4ee5\u652f\u6301\u8f68\u8ff9\u89c4\u5212\u3002\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u5206\u4e3a\u4e24\u7c7b\uff1a1\uff09\u663e\u5f0f\u751f\u6210\u50cf\u7d20\u7ea7\u573a\u666f\u62163D\u5360\u7528\u7f51\u683c\uff08\u5982\u6269\u6563\u6a21\u578b\u3001\u81ea\u56de\u5f52\u6a21\u578b\uff09\uff0c\u4f46\u8ba1\u7b97\u5f00\u9500\u5927\u4e14\u5ffd\u7565\u51e0\u4f55\u52a8\u6001\uff1b2\uff09\u9690\u5f0f\u5efa\u6a21\u6f5c\u5728\u7a7a\u95f4\u7279\u5f81\uff08\u5982LAW\u3001SSR\uff09\uff0c\u4f46\u91c7\u7528\u9759\u6001\u6620\u5c04\uff08\u4e00\u6b65\u56de\u5f52\uff09\u96be\u4ee5\u6355\u6349\u52a8\u6001\u8fc7\u7a0b\uff0c\u5bfc\u81f4\u8f68\u8ff9\u8bc4\u4f30\u4e0d\u51c6\u786e\u3002 <\/p>\n\n\n\n

\u73b0\u6709\u65b9\u6cd5\u5b58\u5728\u7684\u95ee\u9898\u548c\u5c40\u9650\u6027<\/strong><\/p>\n\n\n\n

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  • \u2022\u00a0\u663e\u5f0f\u573a\u666f\u9884\u6d4b\u65b9\u6cd5<\/strong>\uff1a\u4f9d\u8d56\u9ad8\u5206\u8fa8\u7387\u89c6\u89c9\u7ec6\u8282\uff08\u5982\u7eb9\u7406\u3001\u5149\u7167\uff09\uff0c\u4f46\u5ffd\u7565\u5e95\u5c42\u51e0\u4f55\u52a8\u6001\uff0c\u8ba1\u7b97\u6548\u7387\u4f4e\u4e14\u4e0d\u5229\u4e8e\u52a8\u4f5c\u5bfc\u5411\u7684\u63a8\u7406\u3002\u00a0<\/li>\n\n\n\n
  • \u2022\u00a0\u9759\u6001\u6f5c\u5728\u6a21\u578b<\/strong>\uff1a\u5c06\u672a\u6765\u72b6\u6001\u89c6\u4e3a\u5f53\u524d\u72b6\u6001\u7684\u76f4\u63a5\u6620\u5c04\uff0c\u65e0\u6cd5\u5efa\u6a21\u573a\u666f\u6f14\u53d8\u7684\u8fde\u7eed\u52a8\u6001\u8fc7\u7a0b\u3002\u4f8b\u5982\uff0c\u8f66\u8f86\u63a5\u8fd1\u884c\u4eba\u65f6\uff0c\u6025\u5239\u4e0e\u6e10\u505c\u7684\u8f68\u8ff9\u867d\u7ec8\u70b9\u76f8\u4f3c\uff0c\u4f46\u52a8\u6001\u6f14\u5316\u5dee\u5f02\u663e\u8457\uff0c\u9759\u6001\u6a21\u578b\u65e0\u6cd5\u533a\u5206\u5176\u5b89\u5168\u6027\u3002<\/li>\n<\/ul>\n\n\n\n

    \u8bba\u6587\u65b9\u6cd5<\/p>\n\n\n\n

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

    \u6838\u5fc3\u521b\u65b0\u70b9<\/p>\n\n\n\n

    1. \u52a8\u6001\u6d41\u6a21\u578b\u5efa\u6a21<\/strong><\/p>\n\n\n\n

      \n
    • \u2022\u00a0\u533a\u522b\u4e8e\u9759\u6001\u56de\u5f52<\/strong>\uff1a\u901a\u8fc7\u8fde\u7eed\u901f\u5ea6\u573a\u5efa\u6a21\u573a\u666f\u52a8\u6001\u6f14\u5316\uff0c\u800c\u975e\u4e00\u6b65\u6620\u5c04\uff0c\u80fd\u591f\u6355\u6349\u8f68\u8ff9\u6761\u4ef6\u4e0b\u7684\u7269\u7406\u5408\u7406\u6027\u3002\u00a0<\/li>\n\n\n\n
    • \u2022\u00a0\u6280\u672f\u7a81\u7834<\/strong>\uff1a\u4fee\u6b63\u6d41\u6846\u67b6\u663e\u5f0f\u5b66\u4e60\u6f5c\u5728\u72b6\u6001\u7684\u6f14\u5316\u8def\u5f84\uff0c\u652f\u6301\u6e10\u8fdb\u5f0f\u672a\u6765\u9884\u6d4b\uff0c\u63d0\u5347\u8f68\u8ff9\u9884\u6d4b\u7684\u65f6\u7a7a\u4e00\u81f4\u6027\u3002<\/li>\n<\/ul>\n\n\n\n

      2. \u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u6001\u9009\u62e9<\/strong><\/p>\n\n\n\n

        \n
      • \u2022\u00a0\u52a8\u6001\u7a33\u5b9a\u6027\u8bc4\u4f30<\/strong>\uff1a\u9996\u6b21\u5f15\u5165\u901f\u5ea6\u573a\u65b9\u5411\u4e00\u81f4\u6027\u4f5c\u4e3a\u8f68\u8ff9\u9009\u62e9\u6807\u51c6\uff0c\u5f25\u8865\u4f20\u7edf\u51e0\u4f55\u8bef\u5dee\uff08\u5982ADE\/FDE\uff09\u5bf9\u52a8\u6001\u5b89\u5168\u6027\u7684\u5ffd\u89c6\u3002\u00a0<\/li>\n\n\n\n
      • \u2022\u00a0\u7efc\u5408\u8bc4\u4f30\u6307\u6807<\/strong>\uff1a\u7ed3\u5408\u91cd\u5efa\u8bef\u5dee\u3001\u8f68\u8ff9\u8bef\u5dee\u548c\u52a8\u6001\u7a33\u5b9a\u6027\uff0c\u5b9e\u73b0\u66f4\u9c81\u68d2\u7684\u8f68\u8ff9\u8bc4\u4f30\u3002<\/li>\n<\/ul>\n\n\n\n

        3. \u9ad8\u6548\u6f5c\u5728\u8868\u793a\u5b66\u4e60<\/strong><\/p>\n\n\n\n

          \n
        • \u2022 \u4f7f\u7528\u9884\u8bad\u7ec3\u57fa\u7840\u6a21\u578b\uff08\u5982VAE\uff09\u63d0\u53d6\u7a33\u5b9a\u6f5c\u5728\u7279\u5f81\uff0c\u907f\u514d\u76f4\u63a5\u4f9d\u8d56\u4f20\u611f\u5668\u8f93\u5165\u5bfc\u81f4\u7684\u8868\u793a\u6f02\u79fb\u3002<\/li>\n<\/ul>\n\n\n\n

          \u5b9e\u9a8c\u7ed3\u679c<\/p>\n\n\n\n

          \u5b9e\u9a8c\u8bbe\u7f6e\u548c\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n

            \n
          • \u2022\u00a0\u6570\u636e\u96c6<\/strong>\uff1anuScenes\uff08\u5f00\u653e\u5faa\u73af\uff09\u548cNavSim\uff08\u95ed\u73af\u4eff\u771f\uff09\u3002\u00a0<\/li>\n\n\n\n
          • \u2022\u00a0\u6307\u6807<\/strong>\uff1aL2\u4f4d\u79fb\u8bef\u5dee\uff081s\/2s\/3s\uff09\u3001\u78b0\u649e\u7387\uff08CR\uff09\u3001PDMS\uff08NavSim\u7efc\u5408\u8bc4\u5206\uff09\u3002<\/li>\n<\/ul>\n\n\n\n

            \u4e3b\u8981\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

              \n
            1. 1.\u00a0nuScenes\u57fa\u51c6<\/strong>\n
                \n
              • \u2022\u00a0BEV\u6a21\u578b<\/strong>\uff1a\u57fa\u4e8eSSR\u7684DynFlowDrive\u5c06L2\u8bef\u5dee\u4ece0.39m\u964d\u81f30.31m\uff0c\u78b0\u649e\u7387\u4ece0.15%\u964d\u81f30.14%\u3002\u00a0<\/li>\n\n\n\n
              • \u2022\u00a0\u975eBEV\u6a21\u578b<\/strong>\uff1a\u57fa\u4e8eLAW\u7684DynFlowDrive\u5c06L2\u8bef\u5dee\u4ece0.61m\u964d\u81f30.57m\uff0c\u78b0\u649e\u7387\u4ece0.30%\u964d\u81f30.22%\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n
              • 2.\u00a0NavSim\u57fa\u51c6<\/strong>\n
                  \n
                • \u2022\u00a0PDMS<\/strong>\uff1a\u8fbe\u523088.7%\uff0c\u8d85\u8d8a\u57fa\u7ebfWoTE\uff0888.3%\uff09\u548cDiffusionDrive\uff0888.1%\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n

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

                    \n
                  • \u2022\u00a0\u52a8\u6001\u6d41\u6a21\u578b<\/strong>\uff1a\u76f8\u6bd4\u9759\u6001Transformer\u6a21\u578b\uff0c3s L2\u8bef\u5dee\u964d\u4f4e0.07m\uff0c\u78b0\u649e\u7387\u964d\u4f4e0.03%\u3002\u00a0<\/li>\n\n\n\n
                  • \u2022\u00a0\u7a33\u5b9a\u6027\u9009\u62e9<\/strong>\uff1a\u7ed3\u5408\u52a8\u6001\u7a33\u5b9a\u6027\u540e\uff0cL2\u8bef\u5dee\u8fdb\u4e00\u6b65\u964d\u4f4e0.02m\uff0c\u78b0\u649e\u7387\u964d\u4f4e0.01%\u3002\u00a0<\/li>\n\n\n\n
                  • \u2022\u00a0\u6d41\u79ef\u5206\u6b65\u6570<\/strong>\uff1a5\u6b65\u65f6\u6027\u80fd\u6700\u4f73\uff08L2\u8bef\u5dee0.57m\uff0c\u78b0\u649e\u73870.22%\uff09\uff0c\u8fc7\u591a\u6b65\u6570\u5bfc\u81f4\u8fc7\u5e73\u6ed1\u3002<\/li>\n<\/ul>\n\n\n\n

                    \u7ed3\u8bba\u4e0e\u5f71\u54cd<\/p>\n\n\n\n

                    \u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n

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                    1. 1. \u63d0\u51fa\u9996\u4e2a\u57fa\u4e8e\u6d41\u6a21\u578b\u7684\u52a8\u6001\u6f5c\u5728\u4e16\u754c\u6a21\u578b\uff0c\u663e\u5f0f\u5efa\u6a21\u8f68\u8ff9\u6761\u4ef6\u4e0b\u7684\u573a\u666f\u52a8\u6001\u6f14\u5316\u3002\u00a0<\/li>\n\n\n\n
                    2. 2. \u5f15\u5165\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u6001\u9009\u62e9\u7b56\u7565\uff0c\u663e\u8457\u63d0\u5347\u8f68\u8ff9\u89c4\u5212\u7684\u5b89\u5168\u6027\u3002\u00a0<\/li>\n\n\n\n
                    3. 3. \u5728nuScenes\u548cNavSim\u57fa\u51c6\u4e0a\u5747\u53d6\u5f97SOTA\u6027\u80fd\uff0c\u4e14\u65e0\u989d\u5916\u63a8\u7406\u5f00\u9500\u3002<\/li>\n<\/ol>\n\n\n\n

                      \u5bf9\u9886\u57df\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n

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                      • \u2022\u00a0\u7406\u8bba\u5c42\u9762<\/strong>\uff1a\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u63d0\u4f9b\u4e86\u52a8\u6001\u5efa\u6a21\u7684\u65b0\u8303\u5f0f\uff0c\u5f3a\u8c03\u8fde\u7eed\u6f14\u5316\u8fc7\u7a0b\u7684\u91cd\u8981\u6027\u3002\u00a0<\/li>\n\n\n\n
                      • \u2022\u00a0\u5b9e\u8df5\u5c42\u9762<\/strong>\uff1a\u901a\u8fc7\u7a33\u5b9a\u6027\u8bc4\u4f30\u673a\u5236\uff0c\u4e3a\u590d\u6742\u573a\u666f\u4e0b\u7684\u5b89\u5168\u89c4\u5212\u63d0\u4f9b\u53ef\u9760\u5de5\u5177\u3002<\/li>\n<\/ul>\n\n\n\n

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                        1. 1. \u7ed3\u5408\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u589e\u5f3a\u8bed\u4e49\u63a8\u7406\u80fd\u529b\u3002\u00a0<\/li>\n\n\n\n
                        2. 2. \u63d0\u9ad8\u7f55\u89c1\u573a\u666f\uff08corner case\uff09\u4e0b\u7684\u9c81\u68d2\u6027\u3002\u00a0<\/li>\n\n\n\n
                        3. 3. \u6269\u5c55\u81f3\u591a\u8f66\u534f\u540c\u89c4\u5212\u4e0e\u5927\u89c4\u6a21\u52a8\u6001\u73af\u5883\u5efa\u6a21\u3002<\/li>\n<\/ol>\n\n\n\n

                          \u8bba\u6587\u7cbe\u8bfb<\/p>\n\n\n\n

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

                          \u56fe 1\uff1a(a) \u57fa\u4e8e\u611f\u77e5\u548c\u57fa\u4e8e\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u7684\u65b9\u6cd5\u5728 nuScenes \u548c NavSim \u57fa\u51c6\u4e0a\u7684\u6bd4\u8f83\u3002(b) \u5728\u524d\u89c6\u56fe\u548c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\u4e2d\u7684\u89c4\u5212\u53ef\u89c6\u5316\u3002\u672c\u6587\u7684 DynFlowDrive \u5b9e\u73b0\u4e86\u76f8\u5f53\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

                          \u6458\u8981<\/p>\n\n\n\n

                          \u6700\u8fd1\uff0c\u4e16\u754c\u6a21\u578b\u88ab\u5f15\u5165\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u4ee5\u63d0\u9ad8\u89c4\u5212\u7684\u53ef\u9760\u6027\u3002\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u901a\u8fc7\u5916\u89c2\u751f\u6210\u6216\u786e\u5b9a\u6027\u56de\u5f52\u6765\u9884\u6d4b\u672a\u6765\u72b6\u6001\uff0c\u8fd9\u9650\u5236\u4e86\u5176\u6355\u6349\u8f68\u8ff9\u6761\u4ef6\u4e0b\u7684\u573a\u666f\u6f14\u5316\u80fd\u529b\uff0c\u5e76\u5bfc\u81f4\u4e0d\u53ef\u9760\u7684\u52a8\u4f5c\u89c4\u5212\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86 DynFlowDrive\uff0c\u4e00\u79cd\u5229\u7528\u6d41\u5f0f\u52a8\u529b\u5b66\u5efa\u6a21\u4e0d\u540c\u9a7e\u9a76\u52a8\u4f5c\u4e0b\u4e16\u754c\u72b6\u6001\u8f6c\u79fb\u7684\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u3002\u901a\u8fc7\u91c7\u7528\u4fee\u6b63\u6d41\u516c\u5f0f\uff0c\u8be5\u6a21\u578b\u5b66\u4e60\u4e00\u4e2a\u901f\u5ea6\u573a\uff0c\u63cf\u8ff0\u5728\u4e0d\u540c\u9a7e\u9a76\u52a8\u4f5c\u4e0b\u573a\u666f\u72b6\u6001\u5982\u4f55\u53d8\u5316\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u672a\u6765\u6f5c\u5728\u72b6\u6001\u7684\u6e10\u8fdb\u5f0f\u9884\u6d4b\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u8bba\u6587\u8fdb\u4e00\u6b65\u5f15\u5165\u4e86\u4e00\u79cd\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u8f68\u8ff9\u9009\u62e9\u7b56\u7565\uff0c\u6839\u636e\u6240\u5f15\u53d1\u7684\u573a\u666f\u8f6c\u6362\u7684\u7a33\u5b9a\u6027\u8bc4\u4f30\u5019\u9009\u8f68\u8ff9\u3002\u5728 nuScenes \u548c NavSim \u57fa\u51c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u5728\u5404\u79cd\u9a7e\u9a76\u6846\u67b6\u4e2d\u5747\u5b9e\u73b0\u4e86\u6301\u7eed\u6539\u8fdb\uff0c\u4e14\u6ca1\u6709\u589e\u52a0\u989d\u5916\u7684\u63a8\u7406\u5f00\u9500\u3002\u6e90\u4ee3\u7801\u5c06\u5728 https:\/\/github.com\/xiaolul2\/DynFlowDrive \u4e0a\u53d1\u5e03\u3002<\/p>\n\n\n\n

                          1 \u5f15\u8a00<\/p>\n\n\n\n

                          \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u6210\u4e3a\u6784\u5efa\u9a7e\u9a76\u7cfb\u7edf\u7684\u4e00\u79cd\u6709\u524d\u9014\u7684\u8303\u5f0f [3, 7, 10, 18]\u3002\u7ed9\u5b9a\u8f66\u8f7d\u4f20\u611f\u5668\u6355\u83b7\u7684\u6570\u636e\uff0c\u5b83\u65e8\u5728\u9884\u6d4b\u5b89\u5168\u53ef\u9760\u7684\u672a\u6765\u8f68\u8ff9\u7528\u4e8e\u89c4\u5212\u548c\u63a7\u5236 [4, 18, 50]\u3002\u7136\u800c\uff0c\u8f68\u8ff9\u89c4\u5212\u662f\u4e00\u4e2a\u4e0e\u5468\u56f4\u73af\u5883\u9ad8\u5ea6\u4ea4\u4e92\u7684\u8fc7\u7a0b\u3002\u4e00\u6761\u8ba1\u5212\u7684\u8f68\u8ff9\u4ee3\u8868\u4e86\u9884\u671f\u7684\u52a8\u4f5c\uff0c\u5176\u5b89\u5168\u6027\u53d6\u51b3\u4e8e\u6267\u884c\u540e\u73af\u5883\u7684\u54cd\u5e94\u65b9\u5f0f\u3002\u56e0\u6b64\uff0c\u5b9e\u73b0\u53ef\u9760\u548c\u5b89\u5168\u7684\u89c4\u5212\u9700\u8981\u9884\u6d4b\u672a\u6765\u7684\u573a\u666f\u6f14\u5316\uff0c\u8fd9\u4ecd\u7136\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9762\u4e34\u7684\u5173\u952e\u6311\u6218\u3002<\/p>\n\n\n\n

                          \u4e3a\u4e86\u4f7f\u8f66\u8f86\u5177\u5907\u8fd9\u79cd\u524d\u77bb\u6027\u80fd\u529b\uff0c\u65b0\u7684\u7814\u7a76\u65b9\u5411\u5f15\u5165\u4e86\u4e16\u754c\u6a21\u578b [1, 22] \u6765\u7528\u4e8e\u7aef\u5230\u7aef\u65b9\u6cd5 [14, 49]\u3002\u901a\u8fc7\u5b9e\u73b0\u52a8\u4f5c\u6761\u4ef6\u7684\u672a\u6765\u6a21\u62df\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5141\u8bb8\u7cfb\u7edf\u9884\u89c1\u5019\u9009\u8f68\u8ff9\u7684\u540e\u679c\u5e76\u9884\u6d4b\u6f5c\u5728\u98ce\u9669\uff0c\u4ece\u800c\u652f\u6301\u66f4\u5b89\u5168\u548c\u53ef\u9760\u7684\u9a7e\u9a76\u51b3\u7b56\u3002\u4e16\u754c\u6a21\u578b\u4e3b\u8981\u9075\u5faa\u4e24\u79cd\u65b9\u6cd5\uff1a\u4e00\u79cd\u5de5\u4f5c\u7ebf\u663e\u5f0f\u5730\u9884\u6d4b\u672a\u6765\u573a\u666f\uff0c\u4f8b\u5982\u901a\u8fc7\u751f\u6210\u50cf\u7d20\u7ea7\u56fe\u50cf\u62163D\u5360\u7528\u7f51\u683c [47,56, 58,60]\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u53e6\u4e00\u79cd\u5de5\u4f5c\u7ebf\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5efa\u6a21\u4e16\u754c\u7684\u573a\u666f\u9884\u6d4b [24, 55, 62]\uff0c\u800c\u4e0d\u9700\u8981\u663e\u5f0f\u91cd\u5efa\u5b8c\u6574\u573a\u666f\u3002<\/p>\n\n\n\n

                          \u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fdb\u5c55\uff0c\u73b0\u6709\u7684\u4e16\u754c\u6a21\u578b\u4ecd\u7136\u5b58\u5728\u5173\u952e\u9650\u5236\u3002\u5bf9\u4e8e\u663e\u5f0f\u7684\u573a\u666f\u7ea7\u9884\u6d4b\uff0c\u8bb8\u591a\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u6269\u6563\u6a21\u578b [12, 40] \u6216\u81ea\u56de\u5f52\u6a21\u578b [16, 58] \u6765\u5408\u6210\u672a\u6765\u7684\u89c2\u5bdf\u7ed3\u679c\u3002\u867d\u7136\u4ea7\u751f\u4e86\u89c6\u89c9\u4e0a\u4ee4\u4eba\u6109\u60a6\u7684\u7ed3\u679c\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u5916\u89c2\u7ec6\u8282\uff0c\u5982\u7eb9\u7406\u548c\u5149\u7167\u3002\u5bf9\u9ad8\u9891\u89c6\u89c9\u6a21\u5f0f\u7684\u5f3a\u8c03\u5ffd\u7565\u4e86\u5e95\u5c42\u7684\u51e0\u4f55\u7ed3\u6784\u548c\u52a8\u6001\u7279\u6027\uff0c\u8fd9\u4f1a\u5f15\u5165\u989d\u5916\u7684\u8ba1\u7b97\u5f00\u9500\uff0c\u800c\u4e0d\u4f1a\u63d0\u9ad8\u9762\u5411\u884c\u52a8\u7684\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n

                          \u53e6\u4e00\u65b9\u9762\uff0c\u6f5c\u5728\u7a7a\u95f4\u4e16\u754c\u6a21\u578b\u5c06\u91cd\u70b9\u4ece\u5916\u89c2\u5408\u6210\u8f6c\u79fb\u5230\u5185\u90e8\u7279\u5f81 [24, 62]\u3002\u5982\u56fe2 (a) \u6240\u793a\uff0c\u5927\u591a\u6570\u5de5\u4f5c\u91c7\u7528\u4e00\u6b65\u56de\u5f52\uff0c\u76f4\u63a5\u5c06\u5f53\u524d\u6f5c\u5728\u72b6\u6001\u6620\u5c04\u5230\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6b65\u3002\u8fd9\u79cd\u9759\u6001\u516c\u5f0f\u7b80\u5316\u4e86\u9884\u6d4b\u4e3a\u521a\u6027\u6620\u5c04\uff0c\u5e76\u5ffd\u7565\u4e86\u52a8\u6001\u8f6c\u6362\u8fc7\u7a0b\uff0c\u4f7f\u5f97\u96be\u4ee5\u8bc4\u4f30\u5019\u9009\u52a8\u4f5c\u7684\u5b89\u5168\u6027\u548c\u53ef\u884c\u6027\u3002\u4f8b\u5982\uff0c\u5f53\u8f66\u8f86\u63a5\u8fd1\u884c\u4eba\u65f6\uff0c\u5b83\u53ef\u80fd\u4f1a\u9010\u6e10\u51cf\u901f\u4ee5\u8ba9\u884c\uff0c\u6216\u8005\u4fdd\u6301\u901f\u5ea6\u5e76\u5728\u6700\u540e\u4e00\u523b\u7a81\u7136\u5239\u8f66\u3002\u5c3d\u7ba1\u8fd9\u4e24\u79cd\u52a8\u4f5c\u53ef\u80fd\u5bfc\u81f4\u76f8\u4f3c\u7684\u505c\u6b62\u4f4d\u7f6e\uff0c\u4f46\u5176\u5e95\u5c42\u573a\u666f\u6f14\u53d8\u548c\u5b89\u5168\u5f71\u54cd\u662f\u6839\u672c\u4e0d\u540c\u7684\u3002\u5982\u679c\u6ca1\u6709\u5efa\u6a21\u8fd9\u4e2a\u8f6c\u6362\u8fc7\u7a0b\uff0c\u4e16\u754c\u6a21\u578b\u5c31\u65e0\u6cd5\u771f\u5b9e\u6355\u6349\u8f68\u8ff9\u76f8\u5173\u7684\u52a8\u6001\u7279\u6027\uff0c\u4e5f\u65e0\u6cd5\u8bc4\u4f30\u7531\u6b64\u4ea7\u751f\u7684\u6f14\u53d8\u662f\u5426\u5e73\u6ed1\u4e14\u7269\u7406\u5408\u7406\u3002<\/p>\n\n\n\n

                          \u4e3a\u5f25\u5408\u8fd9\u4e00\u5dee\u8ddd\uff0c\u672c\u6587\u8ba4\u4e3a\u6709\u6548\u7684\u4e16\u754c\u5efa\u6a21\u5fc5\u987b\u8d85\u8d8a\u79bb\u6563\u7684\u7aef\u70b9\u56de\u5f52\uff0c\u5e76\u660e\u786e\u5730\u5c06\u8f68\u8ff9\u6761\u4ef6\u4e0b\u7684\u573a\u666f\u6f14\u5316\u8868\u8ff0\u4e3a\u8fde\u7eed\u7684\u52a8\u529b\u7cfb\u7edf\u3002\u53d7\u6b64\u542f\u53d1\uff0c\u672c\u6587\u63d0\u51fa DynFlowDrive\uff0c\u4e00\u79cd\u5229\u7528\u57fa\u4e8e\u6d41\u7684\u52a8\u529b\u5b66\u6765\u5efa\u6a21\u4e0d\u540c\u9a7e\u9a76\u52a8\u4f5c\u4e0b\u4e16\u754c\u72b6\u6001\u8f6c\u79fb\u7684\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u57fa\u4e8e\u63d0\u53d6\u7684\u6f5c\u5728\u7279\u5f81\uff0cDynFlowDrive \u91c7\u7528\u4fee\u6b63\u6d41\u516c\u5f0f\u6765\u5efa\u6a21\u6f5c\u5728\u7a7a\u95f4\u4e2d\u7684\u8f6c\u79fb\u52a8\u529b\u5b66\uff0c\u5e76\u5728\u5f53\u524d\u89c2\u6d4b\u548c\u591a\u4e2a\u5019\u9009\u8f68\u8ff9\u6761\u4ef6\u4e0b\u9884\u6d4b\u672a\u6765\u7684\u6f5c\u5728\u72b6\u6001\u3002\u6240\u5b66\u4e60\u7684\u901f\u5ea6\u573a\u663e\u5f0f\u5730\u6355\u6349\u4e86\u72b6\u6001\u8f6c\u79fb\u8fc7\u7a0b\u4e2d\u573a\u666f\u53d8\u5316\u7684\u901f\u7387\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u6355\u6349\u73af\u5883\u5728\u4e0d\u540c\u9a7e\u9a76\u52a8\u4f5c\u4e0b\u9010\u6b65\u6f14\u5316\u7684\u89c4\u5f8b\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u8fdb\u4e00\u6b65\u5f15\u5165\u4e86\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u8f68\u8ff9\u9009\u62e9\u673a\u5236\u3002\u901a\u8fc7\u5229\u7528\u57fa\u4e8e\u6d41\u7684\u4e16\u754c\u6a21\u578b\u6240\u4ea7\u751f\u7684\u901f\u5ea6\u573a\uff0c\u63a8\u5bfc\u51fa\u4e00\u4e2a\u53cd\u6620\u8f68\u8ff9\u6761\u4ef6\u573a\u666f\u8f6c\u6362\u5e73\u6ed1\u5ea6\u7684\u7a33\u5b9a\u6027\u5ea6\u91cf\u3002\u7ed3\u5408\u4e0e\u771f\u503c\u548c\u6f5c\u5728\u91cd\u5efa\u5dee\u5f02\u6d4b\u91cf\u7684\u8f68\u8ff9\u8bef\u5dee\uff0c\u8fd9\u79cd\u52a8\u529b\u5b66\u611f\u77e5\u7684\u7a33\u5b9a\u6807\u51c6\u4f7f\u5f97\u89c4\u5212\u8bc4\u4f30\u548c\u8f68\u8ff9\u9009\u62e9\u66f4\u52a0\u53ef\u9760\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u5b89\u5168\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002<\/p>\n\n\n\n

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

                          2 \u76f8\u5173\u5de5\u4f5c<\/p>\n\n\n\n

                          \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5c06\u6574\u4e2a\u8303\u5f0f\u5206\u89e3\u4e3a\u4e09\u4e2a\u9636\u6bb5\uff1a\u611f\u77e5 [29, 35, 36, 45, 46]\u3001\u9884\u6d4b [34, 42, 51] \u548c\u89c4\u5212 [13, 32]\u3002\u8fd9\u79cd\u6a21\u5757\u5316\u8bbe\u8ba1\u901a\u5e38\u4f1a\u5bfc\u81f4\u8bef\u5dee\u7d2f\u79ef\u548c\u5927\u91cf\u7684\u5de5\u7a0b\u5f00\u9500\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u9650\u5236\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff0c\u8be5\u65b9\u6cd5\u5b66\u4e60\u4ece\u611f\u5b98\u89c2\u6d4b\u503c\u5230\u9a7e\u9a76\u52a8\u4f5c\u6216\u8f68\u8ff9\u7684\u76f4\u63a5\u6620\u5c04 [19, 20, 30, 44]\u3002\u73b0\u6709\u65b9\u6cd5\u53ef\u4ee5\u6839\u636e\u52a8\u4f5c\u8f93\u51fa\u7684\u5f62\u5f0f\u5927\u81f4\u5206\u4e3a\u4e09\u7c7b\uff0c\u5305\u62ec\u57fa\u4e8e\u56de\u5f52\u7684\u65b9\u6cd5 [17,20]\u3001\u57fa\u4e8e\u751f\u6210\u7684\u65b9\u6cd5 [31, 61] \u548c\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u65b9\u6cd5 [11, 53]\u3002\u5728\u57fa\u4e8e\u56de\u5f52\u7684\u65b9\u6cd5\u4e2d\uff0cUniAD [19]\u3001VAD [20] \u548c SparseDrive [44] \u901a\u8fc7\u5229\u7528\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u548c\u5411\u91cf\u5316\u6216\u7a00\u758f\u67e5\u8be2\u6784\u5efa\u7aef\u5230\u7aef\u67b6\u6784\u3002\u5bf9\u4e8e\u751f\u6210\u65b9\u6cd5\uff0cGenAD [61] \u5229\u7528\u751f\u6210\u6a21\u578b\u8fdb\u884c\u8f68\u8ff9\u56de\u5f52\u3002DiffusionDrive [31] \u548c GoalFlow [52] \u5219\u91c7\u7528\u6d41\u5339\u914d [33] \u548c\u6269\u6563\u7b56\u7565 [5] \u7684\u8303\u5f0f\u6765\u91c7\u6837\u591a\u6a21\u6001\u52a8\u4f5c\u3002\u5bf9\u4e8e\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u65b9\u6cd5\uff0c\u6700\u8fd1\u7684\u7814\u7a76 [21,26,27] \u5c06\u81ea\u52a8\u9a7e\u9a76\u8868\u8ff0\u4e3a\u4e00\u4e2a\u5e8f\u5217\u51b3\u7b56\u95ee\u9898\uff0c\u901a\u8fc7\u5956\u52b1\u8bbe\u8ba1\u548c\u4e0e\u73af\u5883\u7684\u4ea4\u4e92\u6765\u4f18\u5316\u9a7e\u9a76\u7b56\u7565\u3002\u6b64\u5916\uff0c\u4e00\u4e9b\u8fd1\u671f\u7684\u65b9\u6cd5\u901a\u8fc7\u6ce8\u5165\u8bed\u8a00\u4e0a\u4e0b\u6587\u4f5c\u4e3a\u63a8\u7406\u548c\u51b3\u7b56\u7684\u9ad8\u5c42\u6307\u5bfc\uff0c\u5c06\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u6574\u5408\u5230\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6846\u67b6\u4e2d [6, 26, 63]\u3002<\/p>\n\n\n\n

                          \u7136\u800c\uff0c\u5927\u591a\u6570\u73b0\u6709\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u65b9\u6cd5\u7f3a\u4e4f\u5728\u4e0d\u540c\u9a7e\u9a76\u52a8\u4f5c\u4e0b\u5bf9\u672a\u6765\u573a\u666f\u52a8\u6001\u8fdb\u884c\u63a8\u7406\u7684\u80fd\u529b\u3002\u8fd9\u4e00\u5c40\u9650\u6027\u4fc3\u4f7f\u4e86\u4e16\u754c\u6a21\u578b\u7684\u53d1\u5c55\uff0c\u4ee5\u6a21\u62df\u672a\u6765\u4e16\u754c\u7684\u6f14\u53d8\uff0c\u4ece\u800c\u652f\u6301\u66f4\u660e\u667a\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n

                          \u81ea\u52a8\u9a7e\u9a76\u7684\u73af\u5883\u6a21\u578b \u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u73af\u5883\u6a21\u578b\u65e8\u5728\u9884\u6d4b\u5728\u6267\u884c\u5404\u79cd\u52a8\u4f5c\u540e\u573a\u666f\u7684\u672a\u6765\u6f14\u53d8 [14,22,24,49,62]\u3002\u7ed3\u5408\u4e0b\u4e00\u6b65\u72b6\u6001\u9884\u6d4b\uff0c\u73b0\u6709\u7684\u73af\u5883\u6a21\u578b\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u672a\u6765\u573a\u666f\u9884\u6d4b [48, 49, 58\u201360] \u548c\u6f5c\u5728\u7a7a\u95f4\u4e2d\u7684\u7279\u5f81\u7ea7\u73af\u5883\u6a21\u578b [23\u201325, 55]\u3002\u672a\u6765\u573a\u666f\u9884\u6d4b\u7684\u4ee3\u8868\u6027\u5de5\u4f5c\u4e13\u6ce8\u4e8e\u76f4\u63a5\u9884\u6d4b\u672a\u6765\u7684\u89c2\u6d4b\u7ed3\u679c\u6216\u7ed3\u6784\u5316\u573a\u666f\u8868\u793a\u3002\u4f8b\u5982\uff0cGenAD [54]\u3001DrivingFuture [49] \u548c Epona [58] \u9884\u6d4b\u57fa\u4e8e\u52a8\u4f5c\u7684\u672a\u6765\u50cf\u7d20\u7ea7\u573a\u666f\uff0c\u800c DriveDreamer4D [59] \u5c06\u8fd9\u4e00\u8303\u5f0f\u6269\u5c55\u5230\u4f7f\u7528 4D \u9ad8\u65af\u70b9\u7ed8\u91cd\u5efa\u7684 4D \u52a8\u6001\u573a\u666f\u751f\u6210\u3002\u5176\u4ed6\u65b9\u6cd5\u5982 UniOcc [48] \u548c OccWorld [60] \u5728\u4f53\u7d20\u5316\u6216\u5360\u7528\u7a7a\u95f4\u4e2d\u8fd0\u884c\uff0c\u9884\u6d4b\u672a\u6765\u7684 3D \u5360\u7528\u6216\u8bed\u4e49\u573a\u4ee5\u5efa\u6a21\u573a\u666f\u6f14\u53d8\u3002\u4e0e\u663e\u5f0f\u573a\u666f\u9884\u6d4b\u76f8\u8f85\u76f8\u6210\u7684\u662f\u53e6\u4e00\u6761\u7814\u7a76\u8def\u7ebf\uff0c\u5b83\u5728\u7d27\u51d1\u7684\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5b66\u4e60\u73af\u5883\u6a21\u578b\uff0c\u5728\u8be5\u7a7a\u95f4\u4e2d\uff0c\u6a21\u578b\u9884\u6d4b\u4e2d\u95f4\u7279\u5f81\u4e0a\u7684\u52a8\u4f5c\u6761\u4ef6\u8f6c\u6362\uff0c\u800c\u4e0d\u662f\u91cd\u5efa\u5b8c\u6574\u7684\u89c2\u6d4b\u7ed3\u679c\u3002LAW [24] \u548c World4Drive [62] \u5728\u6f5c\u5728\u7279\u5f81\u7a7a\u95f4\u4e2d\u6784\u5efa\u7528\u4e8e\u89c4\u5212\u5bfc\u5411\u9884\u6d4b\u7684\u73af\u5883\u6a21\u578b\uff0c\u800c SSR [23] \u548c WoTE [25] \u8fdb\u4e00\u6b65\u63a2\u7d22\u4e86 BEV \u7a7a\u95f4\u4e2d\u7684\u6f5c\u5728\u5efa\u6a21\uff0c\u8d85\u8d8a\u4e86\u900f\u89c6\u89c6\u56fe\u8868\u793a\u3002<\/p>\n\n\n\n

                          \u5bf9\u4e8e\u672c\u6587\u7684\u8bbe\u8ba1\uff0cDynFlowDrive \u907f\u514d\u663e\u5f0f\u7684\u50cf\u7d20\u7ea7\u573a\u666f\u751f\u6210\uff0c\u800c\u662f\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u8fdb\u884c\u64cd\u4f5c\uff0c\u4e13\u6ce8\u4e8e\u5bf9\u4e16\u754c\u6f14\u5316\u7684\u5e95\u5c42\u52a8\u6001\u8fdb\u884c\u5efa\u6a21\uff0c\u4ee5\u5b9e\u73b0\u52a8\u4f5c\u6761\u4ef6\u9884\u6d4b\u3002<\/p>\n\n\n\n

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

                          \u7a33\u5b9a\u6027\u611f\u77e5 Fig. 3: DynFlowDrive \u6982\u8ff0\u3002\u7ed9\u5b9a\u5f53\u524d\u89c2\u6d4b\uff0c\u591a\u6a21\u5f0f\u8f68\u8ff9\u9996\u5148\u7531\u6807\u51c6\u89c4\u5212\u6a21\u5757\u751f\u6210\u3002\u5f15\u5165\u4e86\u4e00\u4e2a\u57fa\u4e8e\u6d41\u7684\u52a8\u6001\u6f5c\u5728\u73af\u5883\u6a21\u578b\uff0c\u4ee5\u6a21\u62df\u6f5c\u5728\u7a7a\u95f4\u4e2d\u7684\u6e10\u8fdb\u5f0f\u672a\u6765\u6f14\u5316\u3002\u6240\u5f97\u7684\u52a8\u529b\u5b66\u88ab\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u9009\u62e9\u6a21\u5757\u6240\u5229\u7528\uff0c\u8be5\u6a21\u5757\u6839\u636e\u91cd\u5efa\u8d28\u91cf\u548c\u57fa\u4e8e\u6d41\u7684\u7a33\u5b9a\u6027\u8bc4\u4f30\u8f68\u8ff9\uff0c\u4ece\u800c\u5b9e\u73b0\u53ef\u9760\u7684\u76d1\u7763\u548c\u6539\u8fdb\u7684\u89c4\u5212\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n

                          3 \u65b9\u6cd5<\/p>\n\n\n\n

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

                          3.1 \u8f68\u8ff9\u89c4\u5212\u8303\u5f0f<\/p>\n\n\n\n

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

                          \u8be5\u516c\u5f0f\u63d0\u4f9b\u4e86\u4e00\u7ec4\u591a\u6837\u5316\u7684\u8f68\u8ff9\u5047\u8bbe\uff0c\u540c\u65f6\u4fdd\u6301\u7edf\u4e00\u7684\u57fa\u4e8e\u67e5\u8be2\u7684\u89e3\u7801\u7ed3\u6784\uff0c\u8fd9\u4e3a\u540e\u7eed\u7684\u8f68\u8ff9\u9009\u62e9\u548c\u52a8\u6001\u4e16\u754c\u5efa\u6a21\u5960\u5b9a\u4e86\u57fa\u7840\u3002<\/p>\n\n\n\n

                          3.2 \u52a8\u6001\u6f5c\u5728\u4e16\u754c\u6a21\u578b<\/p>\n\n\n\n

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

                          3.3 \u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u9009\u62e9<\/p>\n\n\n\n

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

                          3.4 \u8bad\u7ec3\u548c\u63a8\u7406\u8bbe\u7f6e<\/p>\n\n\n\n

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

                          4 \u5b9e\u9a8c<\/p>\n\n\n\n

                          4.1 \u6570\u636e\u96c6\u548c\u8bc4\u4f30\u6307\u6807<\/p>\n\n\n\n

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

                          4.2 \u5b9e\u73b0\u7ec6\u8282<\/p>\n\n\n\n

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

                          4.3 \u4e3b\u8981\u7ed3\u679c<\/p>\n\n\n\n

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

                          \u56fe6\uff1anuScenese\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u7ed3\u679c\u53ef\u89c6\u5316\u3002\u611f\u77e5\u8868\u793a\u662f\u4ece\u6807\u6ce8\u4e2d\u6e32\u67d3\u7684\u3002\u5468\u56f4\u7684\u6d45\u8272\u7ebf\u6761\u8868\u793a\u573a\u666f\u7684\u5730\u56fe\uff0c\u800c\u9ed1\u8272\u6846\u4ee3\u8868\u76ee\u6807\u68c0\u6d4b\u3002\u81ea\u8f66\u7528\u4e2d\u5fc3\u7684\u7eff\u8272\u6846\u8868\u793a\u3002<\/p>\n\n\n\n

                          4.4 \u6d88\u878d\u7814\u7a76<\/p>\n\n\n\n

                          \u5728\u672c\u8282\u4e2d\uff0c\u672c\u6587\u8fdb\u884c\u4e86\u5168\u9762\u7684\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u63a2\u8ba8DynFlowDrive\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002\u4e3a\u4e86\u516c\u5e73\u6bd4\u8f83\uff0c\u6240\u6709\u6d88\u878d\u5b9e\u9a8c\u5747\u5728nuScenes\u57fa\u51c6\u4e0a\u8fdb\u884c\u3002\u5173\u4e8eNavSim\u57fa\u51c6\u7684\u66f4\u591a\u6d88\u878d\u548c\u5206\u6790\uff0c\u8bf7\u53c2\u89c1\u672c\u6587\u7684\u8865\u5145\u6750\u6599\u3002<\/p>\n\n\n\n

                          \u7ec4\u4ef6\u8bbe\u8ba1\u9a8c\u8bc1\u3002\u5728\u672c\u8282\u4e2d\uff0c\u672c\u6587\u8fdb\u884c\u6d88\u878d\u7814\u7a76\u4ee5\u8bc4\u4f30\u6bcf\u4e2a\u7ec4\u4ef6\u53ca\u5176\u7ec4\u5408\u7684\u8d21\u732e\u3002\u5982\u88683\u6240\u793a\uff0c\u4ece\u6ca1\u6709BEV\u8868\u793a\u6216\u4e16\u754c\u5efa\u6a21\u6a21\u5757\u7684\u666e\u901a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8303\u5f0f\u5f00\u59cb\uff0c\u5f15\u5165\u57fa\u4e8e\u9759\u6001transformer\u7684\u4e16\u754c\u6a21\u578b\u4ec5\u5e26\u6765\u5fae\u5c0f\u7684\u6539\u8fdb\u3002\u901a\u8fc7\u5f15\u5165\u672c\u6587\u63d0\u51fa\u7684\u52a8\u6001\u6f5c\u5728\u4e16\u754c\u6a21\u578b\uff0c\u5e73\u5747L\u2082\u8bef\u5dee\u51cf\u5c11\u4e860.1\u7c73\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e8611%\uff0c\u8fd9\u8868\u660e\u52a8\u6001\u6a21\u62df\u4e16\u754c\u6f14\u5316\u7684\u76ca\u5904\u3002\u6b64\u5916\uff0c\u5f53\u4e0e\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u9009\u62e9\u76f8\u7ed3\u5408\u65f6\uff0cDynFlowDrive\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\uff0c\u8fbe\u52300.57\u7c73\u7684L\u2082\u8bef\u5dee\u548c0.22%\u7684\u78b0\u649e\u7387\u3002\u8fd9\u4e9b\u7ed3\u679c\u9a8c\u8bc1\u4e86\u52a8\u6001\u6f14\u5316\u5efa\u6a21\u548c\u7a33\u5b9a\u6027\u5f15\u5bfc\u7684\u6a21\u5f0f\u9009\u62e9\u5171\u540c\u6709\u52a9\u4e8e\u66f4\u5b89\u5168\u3001\u66f4\u51c6\u786e\u7684\u8f68\u8ff9\u89c4\u5212\u3002\u5bf9\u4e8e\u63a8\u7406\u8fc7\u7a0b\uff0c\u4e0d\u4f1a\u5f15\u5165\u989d\u5916\u7684\u8ba1\u7b97\u8d1f\u62c5\uff0c\u56e0\u4e3a\u57fa\u4e8e\u6d41\u7684\u4e16\u754c\u6a21\u578b\u4ec5\u5728\u8bad\u7ec3\u671f\u95f4\u4f7f\u7528\uff0c\u5e76\u4e0d\u53c2\u4e0e\u524d\u5411\u9884\u6d4b\u7ba1\u9053\u3002<\/p>\n\n\n\n

                          \u88682\uff1aNavSim\u6d4b\u8bd5\u96c6\u4e0a\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u6bd4\u8f83\u3002C: \u76f8\u673a\u3002L: \u6fc0\u5149\u96f7\u8fbe\u3002\u57fa\u4e8e\u89c4\u5219\u8868\u793a\u8f68\u8ff9\u8bc4\u4f30\u9075\u5faa\u7279\u5b9a\u89c4\u5219\u3002\u65e0\u6a21\u578b\u8868\u793a\u6ca1\u6709\u4e16\u754c\u5efa\u6a21\u7684\u8bc4\u4f30\u3002\u6709\u6a21\u578b\u8868\u793a\u5728\u4e16\u754c\u6a21\u578b\u8f85\u52a9\u4e0b\u8fdb\u884c\u8f68\u8ff9\u8bc4\u4f30\u3002<\/p>\n\n\n\n

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

                          \u88683\uff1a\u6309\u7ec4\u4ef6\u6d88\u878d\u5206\u6790\u3002Static-WM\u548cDyn-WM\u5206\u522b\u8868\u793a\u73b0\u6709\u7684\u7a33\u5b9a\u4e16\u754c\u6a21\u578b\u8bbe\u8ba1\u548c\u672c\u6587\u7684\u57fa\u4e8e\u6d41\u7684\u52a8\u6001\u5efa\u6a21\u3002MS\u8868\u793a\u7a33\u5b9a\u6027\u611f\u77e5\u7684\u591a\u6a21\u5f0f\u9009\u62e9\u7b56\u7565\u3002FPS\u662f\u5728\u5355\u4e2aRTX 4090\u4e0a\u6d4b\u91cf\u7684\u3002<\/p>\n\n\n\n

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

                          \u88684\uff1a\u52a8\u6001\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u8bbe\u8ba1\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n

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

                          \u88685\uff1a\u6d41\u6b65\u6570\u548c\u591a\u6a21\u5f0f\u9009\u62e9\u7b56\u7565\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n

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

                          (a) \u6d41\u79ef\u5206\u6b65\u6570\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n

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

                          (b) \u591a\u6a21\u6001\u9009\u62e9\u6807\u51c6\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n

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

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

                          \"\"<\/figure>\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-38326","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38326"}],"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=38326"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38326\/revisions"}],"predecessor-version":[{"id":38367,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38326\/revisions\/38367"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=38326"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=38326"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=38326"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}