{"id":8291,"date":"2024-02-27T16:15:18","date_gmt":"2024-02-27T08:15:18","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8291"},"modified":"2024-02-27T16:15:45","modified_gmt":"2024-02-27T08:15:45","slug":"2024-02-27","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/02\/27\/8291\/","title":{"rendered":"2024-02-27 VAD v2\u7aef\u5230\u7aefSOTA | \u8fdc\u8d85DriveMLM\u7b49\u65b9\u6cd5\uff08\u5730\u5e73\u7ebf\uff09"},"content":{"rendered":"\n

1 Introduction<\/strong><\/h2>\n\n\n\n

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

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    \n
  1. \u8ddf\u968f\u53e6\u4e00\u8f86\u8f66\u3002\u4eba\u7c7b\u9a7e\u9a76\u5458\u6709\u5404\u79cd\u5408\u7406\u7684\u9a7e\u9a76\u64cd\u4f5c\uff0c\u5305\u62ec\u4fdd\u6301\u8ddf\u968f\u6216\u53d8\u9053\u8d85\u8f66;<\/li>\n\n\n\n
  2. \u4e0e\u8fce\u9762\u6765\u8f66\u7684\u4ea4\u4e92\u3002<\/li>\n<\/ol>\n\n\n\n

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

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    \u4f5c\u8005\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    1. \u4f5c\u8005\u63d0\u51fa\u6982\u7387\u6027\u89c4\u5212\u4ee5\u5e94\u5bf9\u89c4\u5212\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u6982\u7387\u573a\uff0c\u5c06\u52a8\u4f5c\u7a7a\u95f4\u6620\u5c04\u5230\u6982\u7387\u5206\u5e03\uff0c\u5e76\u4ece\u5927\u89c4\u6a21\u9a7e\u9a76\u6f14\u793a\u4e2d\u5b66\u4e60\u52a8\u4f5c\u7684\u5206\u5e03\u3002<\/li>\n\n\n\n
    2. \u57fa\u4e8e\u6982\u7387\u6027\u89c4\u5212\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86VADv2\uff0c\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u9a7e\u9a76\u6a21\u578b\uff0c\u5b83\u5c06\u4f20\u611f\u5668\u6570\u636e\u8f6c\u6362\u4e3a\u73af\u5883\u6807\u8bb0\u5d4c\u5165\uff0c\u8f93\u51fa\u52a8\u4f5c\u7684\u6982\u7387\u5206\u5e03\uff0c\u5e76\u4ece\u4e2d\u91c7\u6837\u4e00\u4e2a\u52a8\u4f5c\u6765\u63a7\u5236\u8f66\u8f86\u3002<\/li>\n\n\n\n
    3. \u5728CARLA\u6a21\u62df\u5668\u4e2d\uff0cVADv2\u5728Town05\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u95ed\u73af\u6027\u80fd\u3002\u95ed\u73af\u6f14\u793a\u8868\u660e\uff0c\u5b83\u80fd\u591f\u4ee5\u7aef\u5230\u7aef\u7684\u65b9\u5f0f\u7a33\u5b9a\u8fd0\u884c\u3002<\/li>\n<\/ol>\n\n\n\n

      2 Related Work<\/strong><\/h2>\n\n\n\n

      \u611f\u77e5\u3002<\/strong> \u611f\u77e5\u662f\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u7684\u7b2c\u4e00\u6b65\uff0c\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u7edf\u4e00\u8868\u5f81\u6709\u5229\u4e8e\u5176\u8f7b\u677e\u6574\u5408\u5230\u4e0b\u6e38\u4efb\u52a1\u4e2d\u3002\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u8fd1\u5e74\u6765\u5df2\u6210\u4e3a\u4e00\u79cd\u5e38\u89c1\u7b56\u7565\uff0c\u5b83\u6709\u6548\u652f\u6301\u573a\u666f\u7279\u5f81\u7f16\u7801\u548c\u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u3002LSS \u662f\u4e00\u9879\u5f00\u521b\u6027\u5de5\u4f5c\uff0c\u901a\u8fc7\u663e\u5f0f\u9884\u6d4b\u56fe\u50cf\u50cf\u7d20\u7684\u6df1\u5ea6\u6765\u5b9e\u73b0\u900f\u89c6\u89c6\u56fe\u5230BEV\u7684\u8f6c\u6362\u3002<\/p>\n\n\n\n

      \u53e6\u4e00\u65b9\u9762\uff0cBEVFormer \u901a\u8fc7\u8bbe\u8ba1\u7a7a\u95f4\u548c\u65f6\u5e8f\u6ce8\u610f\u529b\u673a\u5236\uff0c\u907f\u514d\u4e86\u663e\u5f0f\u7684\u6df1\u5ea6\u9884\u6d4b\uff0c\u5e76\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u68c0\u6d4b\u6027\u80fd\u3002\u540e\u7eed\u5de5\u4f5c\u901a\u8fc7\u4f18\u5316\u65f6\u5e8f\u5efa\u6a21\u548cBEV\u8f6c\u6362\u7b56\u7565\uff0c\u6301\u7eed\u63d0\u9ad8\u4e86\u5728\u4e0b\u6e38\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u3002\u5728\u77e2\u91cf\u5316\u6620\u5c04\u65b9\u9762\uff0cHDMapNet \u901a\u8fc7\u540e\u5904\u7406\u5c06\u8f66\u9053\u7ebf\u5206\u5272\u8f6c\u6362\u4e3a\u77e2\u91cf\u5730\u56fe\u3002VectorMapNet \u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u9884\u6d4b\u77e2\u91cf\u5730\u56fe\u5143\u7d20\u3002MapTR \u5f15\u5165\u4e86\u6392\u5217\u7b49\u4ef7\u548c\u5206\u5c42\u5339\u914d\u7b56\u7565\uff0c\u663e\u8457\u63d0\u5347\u4e86\u6620\u5c04\u6027\u80fd\u3002LaneGAP \u5f15\u5165\u4e86\u9488\u5bf9\u8f66\u9053\u56fe\u7684\u8def\u5f84\u5efa\u6a21\u3002<\/p>\n\n\n\n

      \u8fd0\u52a8\u9884\u6d4b\u3002<\/strong> \u8fd0\u52a8\u9884\u6d4b\u65e8\u5728\u9884\u6d4b\u9a7e\u9a76\u573a\u666f\u4e2d\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u8f85\u52a9\u81ea\u8f66\u505a\u51fa\u660e\u667a\u7684\u89c4\u5212\u51b3\u7b56\u3002\u4f20\u7edf\u7684\u8fd0\u52a8\u9884\u6d4b\u4efb\u52a1\u5229\u7528\u5386\u53f2\u8f68\u8ff9\u548c\u9ad8\u6e05\u5730\u56fe\u7b49\u8f93\u5165\u6765\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u8fd1\u5e74\u6765\u7aef\u5230\u7aef\u7684\u8fd0\u52a8\u9884\u6d4b\u65b9\u6cd5\u5c06\u611f\u77e5\u548c\u8fd0\u52a8\u9884\u6d4b\u7ed3\u5408\u8d77\u6765\u3002\u5728\u573a\u666f\u8868\u793a\u65b9\u9762\uff0c\u4e00\u4e9b\u7814\u7a76\u91c7\u7528\u6805\u683c\u5316\u7684\u56fe\u50cf\u8868\u793a\u5e76\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u8fdb\u884c\u9884\u6d4b\u3002<\/p>\n\n\n\n

      \u5176\u4ed6\u65b9\u6cd5\u5219\u91c7\u7528\u5411\u91cf\u5316\u8868\u793a\uff0c\u5e76\u4f7f\u7528\u56fe\u795e\u7ecf\u7f51\u7edc\u6216Transformer\u6a21\u578b\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u548c\u8fd0\u52a8\u9884\u6d4b\u3002\u4e00\u4e9b\u7814\u7a76\u5c06\u672a\u6765\u7684\u8fd0\u52a8\u89c6\u4e3a\u5bc6\u96c6\u5360\u7528\u548c\u6d41\uff0c\u800c\u4e0d\u662f\u4e2a\u4f53 Level \u7684\u672a\u6765\u822a\u70b9\u3002\u4e00\u4e9b\u8fd0\u52a8\u9884\u6d4b\u65b9\u6cd5\u91c7\u7528\u9ad8\u65af\u6df7\u5408\u6a21\u578b\uff08GMM\uff09\u6765\u56de\u5f52\u591a\u6a21\u6001\u8f68\u8ff9\u3002\u8fd9\u53ef\u4ee5\u5e94\u7528\u4e8e\u89c4\u5212\u4e2d\u6765\u5efa\u6a21\u4e0d\u786e\u5b9a\u6027\u3002\u4f46\u6a21\u5f0f\u7684\u6570\u91cf\u662f\u6709\u9650\u7684\u3002<\/p>\n\n\n\n

      \u89c4\u5212\u3002<\/strong> \u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u7531\u4e8e\u5176\u6570\u636e\u9a71\u52a8\u6027\u8d28\u4ee5\u53ca\u968f\u7740\u6570\u636e\u91cf\u7684\u589e\u52a0\u800c\u5e26\u6765\u7684\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u6027\u80fd\uff0c\u8fd1\u5e74\u6765\u5df2\u663e\u793a\u51fa\u5de8\u5927\u7684\u6f5c\u529b\u3002\u65e9\u671f\u5c1d\u8bd5\u91c7\u7528\u4e86\u5b8c\u5168\u7684\u9ed1\u7bb1\u7cbe\u795e\uff0c\u5176\u4e2d\u4f20\u611f\u5668\u6570\u636e\u76f4\u63a5\u7528\u4e8e\u9884\u6d4b\u63a7\u5236\u4fe1\u53f7\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u7b56\u7565\u7f3a\u4e4f\u53ef\u89e3\u91ca\u6027\uff0c\u4e14\u96be\u4ee5\u4f18\u5316\u3002\u6b64\u5916\uff0c\u8fd8\u6709\u8bb8\u591a\u7814\u7a76\u7ed3\u5408\u4e86\u5f3a\u5316\u5b66\u4e60\u548c\u89c4\u5212\u3002\u901a\u8fc7\u5728\u95ed\u73af\u4eff\u771f\u73af\u5883\u4e2d\u81ea\u4e3b\u63a2\u7d22\u9a7e\u9a76\u884c\u4e3a\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5b9e\u73b0\u4e86\u751a\u81f3\u8d85\u8d8a\u4eba\u7c7b\u6c34\u5e73\u7684\u9a7e\u9a76\u6027\u80fd\u3002<\/p>\n\n\n\n

      \u7136\u800c\uff0c\u5728\u6a21\u62df\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u67b6\u6865\uff0c\u4ee5\u53ca\u5904\u7406\u5b89\u5168\u95ee\u9898\uff0c\u5c06\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u5e94\u7528\u4e8e\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u63d0\u51fa\u4e86\u6311\u6218\u3002\u6a21\u4eff\u5b66\u4e60\u662f\u53e6\u4e00\u4e2a\u7814\u7a76\u65b9\u5411\uff0c\u6a21\u578b\u901a\u8fc7\u5b66\u4e60\u4e13\u5bb6\u9a7e\u9a76\u884c\u4e3a\u4ee5\u83b7\u5f97\u826f\u597d\u7684\u89c4\u5212\u6027\u80fd\uff0c\u5e76\u53d1\u5c55\u51fa\u63a5\u8fd1\u4eba\u7c7b\u7684\u9a7e\u9a76\u98ce\u683c\u3002\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u5df2\u7ecf\u51fa\u73b0\uff0c\u5c06\u611f\u77e5\u3001\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u6574\u5408\u5230\u5355\u4e00\u6a21\u578b\u4e2d\uff0c\u5f62\u6210\u4e86\u4e00\u79cd\u5b8c\u5168\u6570\u636e\u9a71\u52a8\u7684\u65b9\u6cd5\uff0c\u5c55\u793a\u4e86\u6709\u524d\u666f\u7684\u6027\u80fd\u3002UniAD\u5de7\u5999\u5730\u6574\u5408\u4e86\u591a\u4e2a\u611f\u77e5\u548c\u9884\u6d4b\u4efb\u52a1\u4ee5\u589e\u5f3a\u89c4\u5212\u6027\u80fd\u3002VAD\u63a2\u7d22\u4e86\u5411\u91cf\u5316\u573a\u666f\u8868\u5f81\u7528\u4e8e\u89c4\u5212\u7684\u6f5c\u529b\uff0c\u5e76\u6446\u8131\u4e86\u5bc6\u96c6\u5730\u56fe\u7684\u675f\u7f1a\u3002<\/p>\n\n\n\n

      \u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\u3002<\/strong>\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u5c55\u793a\u7684\u53ef\u89e3\u91ca\u6027\u548c\u903b\u8f91\u63a8\u7406\u80fd\u529b\u53ef\u4ee5\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u63d0\u4f9b\u6781\u5927\u7684\u5e2e\u52a9\u3002\u8fd1\u671f\u7684\u7814\u7a76\u63a2\u8ba8\u4e86LLM\u4e0e\u81ea\u52a8\u9a7e\u9a76\u7684\u7ed3\u5408\u3002\u4e00\u65b9\u9762\uff0c\u6709\u7528LLM\u901a\u8fc7\u95ee\u7b54\uff08QA\uff09\u4efb\u52a1\u6765\u8fdb\u884c\u9a7e\u9a76\u573a\u666f\u7406\u89e3\u548c\u8bc4\u4f30\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n

      \u53e6\u4e00\u65b9\u9762\uff0c\u8fd8\u6709\u7814\u7a76\u66f4\u8fdb\u4e00\u6b65\uff0c\u5728\u57fa\u4e8eLLM\u7684\u573a\u666f\u7406\u89e3\u4e4b\u4e0a\u52a0\u5165\u4e86\u89c4\u5212\u3002\u4f8b\u5982\uff0cDriveGPT4\u63a5\u53d7\u5386\u53f2\u89c6\u9891\u548c\u6587\u672c\uff08\u5305\u62ec\u95ee\u9898\u53ca\u989d\u5916\u7684\u4fe1\u606f\uff0c\u5982\u5386\u53f2\u63a7\u5236\u4fe1\u53f7\uff09\u4f5c\u4e3a\u8f93\u5165\u3002\u7f16\u7801\u540e\uff0c\u8fd9\u4e9b\u8f93\u5165\u88ab\u9001\u5165LLM\uff0c\u9884\u6d4b\u95ee\u9898\u7684\u7b54\u6848\u548c\u63a7\u5236\u4fe1\u53f7\u3002\u800cLanguageMPC\u5219\u63a5\u6536\u5386\u53f2 GT \u611f\u77e5\u7ed3\u679c\u548c\u4ee5\u8bed\u8a00\u63cf\u8ff0\u5f62\u5f0f\u7684\u9ad8\u6e05\u5730\u56fe\u3002\u5b83\u91c7\u7528\u4e00\u79cd\u601d\u7ef4\u94fe\u5206\u6790\u7684\u65b9\u6cd5\u6765\u7406\u89e3\u573a\u666f\uff0c\u6700\u7ec8LLM\u4ece\u9884\u5b9a\u4e49\u7684\u96c6\u5408\u4e2d\u9884\u6d4b\u89c4\u5212\u52a8\u4f5c\u3002\u6bcf\u4e2a\u52a8\u4f5c\u5bf9\u5e94\u4e00\u4e2a\u5177\u4f53\u7684\u6267\u884c\u63a7\u5236\u4fe1\u53f7\u3002VADv2\u4eceGPT\u4e2d\u83b7\u5f97\u7075\u611f\uff0c\u4ee5\u89e3\u51b3\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002\u4e0d\u786e\u5b9a\u6027\u540c\u6837\u5b58\u5728\u4e8e\u8bed\u8a00\u5efa\u6a21\u4e2d\u3002<\/p>\n\n\n\n

      \u5728\u7279\u5b9a\u8bed\u5883\u4e0b\uff0c\u4e0b\u4e00\u4e2a\u8bcd\u662f\u975e\u786e\u5b9a\u6027\u7684\u548c\u6982\u7387\u6027\u7684\u3002LLM\u4ece\u5927\u89c4\u6a21\u8bed\u6599\u5e93\u4e2d\u5b66\u4e60\u4e0b\u4e00\u4e2a\u8bcd\u7684\u6761\u4ef6\u6982\u7387\u5206\u5e03\uff0c\u5e76\u4ece\u8fd9\u4e2a\u5206\u5e03\u4e2d\u62bd\u6837\u4e00\u4e2a\u8bcd\u3002\u53d7\u5230LLM\u7684\u542f\u53d1\uff0cVADv2\u5c06\u89c4\u5212\u7b56\u7565\u5efa\u6a21\u4e3a\u4e00\u79cd\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u975e\u5b9a\u5e38\u968f\u673a\u8fc7\u7a0b\u3002VADv2\u79bb\u6563\u5316\u52a8\u4f5c\u7a7a\u95f4\u4ee5\u751f\u6210\u89c4\u5212\u8bcd\u6c47\u8868\uff0c\u6839\u636e\u5927\u89c4\u6a21\u9a7e\u9a76\u6f14\u793a\u8fd1\u4f3c\u6982\u7387\u5206\u5e03\uff0c\u5e76\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u4ece\u5206\u5e03\u4e2d\u62bd\u6837\u4e00\u4e2a\u52a8\u4f5c\u6765\u63a7\u5236\u8f66\u8f86\u3002<\/p>\n\n\n\n

      3 Method<\/strong><\/h2>\n\n\n\n

      VADv2\u7684\u603b\u4f53\u6846\u67b6\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n

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

      VADv2\u4ee5\u6d41\u65b9\u5f0f\u63a5\u6536\u591a\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u4f5c\u4e3a\u8f93\u5165\uff0c\u5c06\u4f20\u611f\u5668\u6570\u636e\u8f6c\u6362\u4e3a\u73af\u5883\u6807\u8bb0\u5d4c\u5165\uff0c\u8f93\u51fa\u52a8\u4f5c\u7684\u6982\u7387\u5206\u5e03\uff0c\u5e76\u91c7\u6837\u4e00\u4e2a\u52a8\u4f5c\u6765\u63a7\u5236\u8f66\u8f86\u3002\u4f7f\u7528\u5927\u89c4\u6a21\u9a7e\u9a76\u6f14\u793a\u548c\u573a\u666f\u7ea6\u675f\u6765\u76d1\u7763\u9884\u6d4b\u7684\u5206\u5e03\u3002<\/p>\n\n\n\n

      Scene Encoder<\/strong><\/h3>\n\n\n\n
      \"\"<\/figure>\n\n\n\n

      Probabilistic Planning<\/strong><\/p>\n\n\n\n

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

      Training<\/strong><\/p>\n\n\n\n

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

      Inference<\/strong><\/p>\n\n\n\n

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

      4 Experiments<\/strong><\/h2>\n\n\n\n

      Experimental Settings<\/strong><\/h3>\n\n\n\n

      \u5e7f\u6cdb\u4f7f\u7528\u7684CARLA \u4eff\u771f\u5668\u88ab\u91c7\u7eb3\u6765\u8bc4\u4f30VADv2\u7684\u6027\u80fd\u3002\u6309\u7167\u5e38\u89c1\u7684\u505a\u6cd5\uff0c\u4f5c\u8005\u4f7f\u7528Town05\u957f\u548cTown05\u77ed\u57fa\u51c6\u6765\u8fdb\u884c\u95ed\u73af\u8bc4\u4f30\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6bcf\u4e2a\u57fa\u51c6\u90fd\u5305\u542b\u51e0\u4e2a\u9884\u5b9a\u4e49\u7684\u9a7e\u9a76\u8def\u7ebf\u3002Town05\u957f\u5305\u542b10\u6761\u8def\u7ebf\uff0c\u6bcf\u6761\u8def\u7ebf\u5927\u7ea61\u516c\u91cc\u957f\u3002Town05\u77ed\u5305\u542b32\u6761\u8def\u7ebf\uff0c\u6bcf\u6761\u8def\u7ebf\u957f70\u7c73\u3002Town05\u957f\u9a8c\u8bc1\u4e86\u6a21\u578b\u7684\u7efc\u5408\u80fd\u529b\uff0c\u800cTown05\u77ed\u5219\u4e13\u6ce8\u4e8e\u8bc4\u4f30\u6a21\u578b\u5728\u7279\u5b9a\u573a\u666f\u4e0b\u7684\u6027\u80fd\uff0c\u4f8b\u5982\u5728\u4ea4\u53c9\u8def\u53e3\u524d\u53d8\u9053\u3002<\/p>\n\n\n\n

      \u4f5c\u8005\u4f7f\u7528CARLA\u5b98\u65b9\u7684\u81ea\u4e3b\u4ee3\u7406\u4eba\u5728Town03\u3001Town04\u3001Town06\u3001Town07\u548cTown10\u4e2d\u968f\u673a\u751f\u6210\u9a7e\u9a76\u8def\u7ebf\u6765\u6536\u96c6\u8bad\u7ec3\u6570\u636e\u3002\u6570\u636e\u4ee52Hz\u7684\u9891\u7387\u8fdb\u884c\u91c7\u6837\uff0c\u4f5c\u8005\u6536\u96c6\u4e86\u5927\u7ea6300\u4e07\u5e27\u7528\u4e8e\u8bad\u7ec3\u3002\u5bf9\u4e8e\u6bcf\u4e00\u5e27\uff0c\u4f5c\u8005\u4fdd\u5b58\u4e866\u4e2a\u6444\u50cf\u5934\u7684\u73af\u89c6\u56fe\u50cf\u3001\u4ea4\u901a\u4fe1\u53f7\u3001\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u4fe1\u606f\u4ee5\u53ca\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u3002<\/p>\n\n\n\n

      \u6b64\u5916\uff0c\u901a\u8fc7\u9884\u5904\u7406CARLA\u63d0\u4f9b\u7684OpenStreetMap \u683c\u5f0f\u7684\u5730\u56fe\uff0c\u4f5c\u8005\u83b7\u5f97\u4e86\u7528\u4e8e\u8bad\u7ec3\u5728\u7ebf\u5730\u56fe\u6a21\u5757\u7684\u5411\u91cf\u5730\u56fe\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5730\u56fe\u4fe1\u606f\u4ec5\u5728\u8bad\u7ec3\u671f\u95f4\u4f5c\u4e3a GT \u63d0\u4f9b\uff0cVADv2\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u5e76\u672a\u5229\u7528\u4efb\u4f55\u9ad8\u6e05\u6670\u5ea6\u5730\u56fe\u3002<\/p>\n\n\n\n

      Metrics<\/strong><\/h3>\n\n\n\n

      \u5bf9\u4e8e\u95ed\u73af\u8bc4\u4f30\uff0c\u4f5c\u8005\u4f7f\u7528\u4e86CARLA\u7684\u5b98\u65b9\u6307\u6807\u3002\u8def\u7ebf\u5b8c\u6210\u5ea6\u8868\u660e\u4e86\u4ee3\u7406\u5b8c\u6210\u7684\u8def\u7ebf\u8ddd\u79bb\u7684\u767e\u5206\u6bd4\u3002\u8fdd\u89c4\u5f97\u5206\u8868\u793a\u6cbf\u8def\u7ebf\u53d1\u751f\u7684\u8fdd\u89c4\u7a0b\u5ea6\u7684\u91cf\u5316\u3002\u5178\u578b\u7684\u8fdd\u89c4\u5305\u62ec\u95ef\u7ea2\u706f\u3001\u4e0e\u884c\u4eba\u53d1\u751f\u78b0\u649e\u7b49\u3002\u6bcf\u79cd\u8fdd\u89c4\u7c7b\u578b\u90fd\u6709\u4e00\u4e2a\u76f8\u5e94\u7684\u60e9\u7f5a\u7cfb\u6570\uff0c\u53d1\u751f\u7684\u8fdd\u89c4\u8d8a\u591a\uff0c\u8fdd\u89c4\u5f97\u5206\u5c31\u8d8a\u4f4e\u3002<\/p>\n\n\n\n

      \u9a7e\u9a76\u5f97\u5206\u662f\u8def\u7ebf\u5b8c\u6210\u5ea6\u4e0e\u8fdd\u89c4\u5f97\u5206\u7684\u4e58\u79ef\uff0c\u8fd9\u662f\u8bc4\u4f30\u7684\u4e3b\u8981\u6307\u6807\u3002\u5728\u57fa\u51c6\u8bc4\u4f30\u4e2d\uff0c\u5927\u591a\u6570\u7814\u7a76\u91c7\u7528\u4e86\u57fa\u4e8e\u89c4\u5219\u7684\u5305\u88c5\u5668\u6765\u51cf\u5c11\u8fdd\u89c4\u3002\u4e3a\u4e86\u4e0e\u5176\u4ed6\u65b9\u6cd5\u8fdb\u884c\u516c\u5e73\u7684\u6bd4\u8f83\uff0c\u4f5c\u8005\u9075\u5faa\u901a\u5e38\u7684\u505a\u6cd5\uff0c\u5728\u57fa\u4e8e\u5b66\u4e60\u7b56\u7565\u4e0a\u91c7\u7528\u57fa\u4e8e\u89c4\u5219\u7684\u5305\u88c5\u5668\u3002<\/p>\n\n\n\n

      \u5bf9\u4e8e\u5f00\u73af\u8bc4\u4f30\uff0c\u91c7\u7528L2\u8ddd\u79bb\u548c\u78b0\u649e\u7387\u6765\u5c55\u793a\u5b66\u4e60\u5230\u7684\u7b56\u7565\u5728\u4f55\u79cd\u7a0b\u5ea6\u4e0a\u7c7b\u4f3c\u4e8e\u4e13\u5bb6\u6f14\u793a\u7684\u9a7e\u9a76\u3002\u5728\u6d88\u878d\u5b9e\u9a8c\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528\u5f00\u73af\u6307\u6807\u8fdb\u884c\u8bc4\u4f30\uff0c\u56e0\u4e3a\u5f00\u73af\u6307\u6807\u8ba1\u7b97\u901f\u5ea6\u5feb\u4e14\u66f4\u7a33\u5b9a\u3002\u4f5c\u8005\u4f7f\u7528CARLA\u5b98\u65b9\u7684\u81ea\u4e3b\u4ee3\u7406\u5728Town05 Long\u57fa\u51c6\u4e0a\u751f\u6210\u9a8c\u8bc1\u96c6\u4ee5\u8fdb\u884c\u5f00\u73af\u8bc4\u4f30\uff0c\u5e76\u4e14\u5c06\u7ed3\u679c\u5728\u6240\u6709\u9a8c\u8bc1\u6837\u672c\u4e0a\u53d6\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n

      Comparisons with State-of-the-Art Methods<\/strong><\/h3>\n\n\n\n

      \u5728Town05\u957f\u8ddd\u79bb\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cVADv2\u53d6\u5f97\u4e8685.1\u7684\u9a7e\u9a76\u5206\u6570\uff0c98.4\u7684\u8def\u7a0b\u5b8c\u6210\u5ea6\uff0c\u4ee5\u53ca0.87\u7684\u8fdd\u89c4\u5206\u6570\uff0c\u5982\u88681\u6240\u793a\u3002\u4e0e\u4e4b\u524d\u7684\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u6bd4\uff0cVADv2\u5728\u8def\u7a0b\u5b8c\u6210\u5ea6\u66f4\u9ad8\u7684\u540c\u65f6\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u9a7e\u9a76\u5206\u6570\uff0c\u589e\u52a0\u4e869.0\u3002<\/p>\n\n\n\n

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

      \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cVADv2\u4ec5\u4f7f\u7528\u6444\u50cf\u5934\u4f5c\u4e3a\u611f\u77e5\u8f93\u5165\uff0c\u800cDriveMLM\u540c\u65f6\u4f7f\u7528\u4e86\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u3002\u6b64\u5916\uff0c\u4e0e\u4e4b\u524d\u4ec5\u4f9d\u8d56\u6444\u50cf\u5934\u6700\u4f73\u65b9\u6cd5\u76f8\u6bd4\uff0cVADv2\u663e\u793a\u51fa\u66f4\u5927\u7684\u4f18\u52bf\uff0c\u9a7e\u9a76\u5206\u6570\u7684\u663e\u8457\u63d0\u9ad8\u8fbe\u5230\u4e8616.8\u3002<\/p>\n\n\n\n

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

      \u4f5c\u8005\u5728\u88682\u4e2d\u5c55\u793a\u4e86Town05\u77ed\u8ddd\u79bb\u57fa\u51c6\u7684\u6240\u6709\u516c\u5f00\u53ef\u7528\u4f5c\u54c1\u7684\u6210\u679c\u3002\u4e0eTown05\u957f\u8ddd\u79bb\u57fa\u51c6\u76f8\u6bd4\uff0cTown05\u77ed\u8ddd\u79bb\u57fa\u51c6\u66f4\u4fa7\u91cd\u4e8e\u8bc4\u4f30\u6a21\u578b\u5728\u7279\u5b9a\u9a7e\u9a76\u884c\u4e3a\u4e0a\u7684\u80fd\u529b\uff0c\u4f8b\u5982\u5728\u62e5\u5835\u7684\u8f66\u6d41\u4e2d\u53d8\u9053\u4ee5\u53ca\u5728\u4e0e\u4ea4\u53c9\u53e3\u524d\u53d8\u9053\u3002\u76f8\u8f83\u4e8e\u4e4b\u524d\u7684\u7ed3\u679c\uff0cVADv2\u5728\u9a7e\u9a76\u5f97\u5206\u548c\u8def\u7ebf\u5b8c\u6210\u7387\u4e0a\u5206\u522b\u663e\u8457\u63d0\u5347\u4e8625.3\u548c5.7\uff0c\u8fd9\u5c55\u793a\u4e86VADv2\u5728\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u7efc\u5408\u9a7e\u9a76\u80fd\u529b\u3002<\/p>\n\n\n\n

      Ablation Study<\/strong><\/h3>\n\n\n\n

      \u88683\u5c55\u793a\u4e86\u5728VADv2\u4e2d\u7684\u5173\u952e\u6a21\u5757\u7684\u6d88\u878d\u5b9e\u9a8c\u3002\u5982\u679c\u6ca1\u6709\u5206\u5e03\u635f\u5931\uff08ID 1\uff09\u63d0\u4f9b\u7684\u4e13\u5bb6\u9a7e\u9a76\u884c\u4e3a\u76d1\u7763\uff0c\u6a21\u578b\u5728\u89c4\u5212\u51c6\u786e\u6027\u65b9\u9762\u8868\u73b0\u4e0d\u4f73\u3002<\/p>\n\n\n\n

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

      \u51b2\u7a81\u635f\u5931\u63d0\u4f9b\u4e86\u5173\u4e8e\u9a7e\u9a76\u7684\u5173\u952e\u5148\u9a8c\u4fe1\u606f\uff0c\u56e0\u6b64\u5982\u679c\u6ca1\u6709\u51b2\u7a81\u635f\u5931\uff08ID 2\uff09\uff0c\u6a21\u578b\u7684\u89c4\u5212\u51c6\u786e\u6027\u4e5f\u4f1a\u53d7\u5230\u5f71\u54cd\u3002\u573a\u666f\u6807\u8bb0\u5c06\u91cd\u8981\u7684\u573a\u666f\u5143\u7d20\u7f16\u7801\u6210\u9ad8\u7ef4\u7279\u5f81\uff0c\u89c4\u5212\u6807\u8bb0\u4e0e\u573a\u666f\u6807\u8bb0\u4ea4\u4e92\uff0c\u5b66\u4e60\u9a7e\u9a76\u573a\u666f\u7684\u52a8\u6001\u548c\u9759\u6001\u4fe1\u606f\u3002\u5f53\u4efb\u4f55\u7c7b\u578b\u7684\u573a\u666f\u6807\u8bb0\u7f3a\u5931\u65f6\uff0c\u6a21\u578b\u7684\u89c4\u5212\u6027\u80fd\u5c06\u4f1a\u53d7\u5230\u5f71\u54cd\uff08ID 3-ID 6\uff09\u3002\u5f53\u6a21\u578b\u878d\u5408\u4e86\u4e0a\u8ff0\u6240\u6709\u8bbe\u8ba1\u65f6\uff0c\u53ef\u4ee5\u5b9e\u73b0\u6700\u4f73\u7684\u89c4\u5212\u6027\u80fd\uff08ID 7\uff09\u3002<\/p>\n\n\n\n

      Visualization<\/strong><\/h3>\n\n\n\n

      \u56fe3\u5c55\u793a\u4e86VADv2\u7684\u4e00\u4e9b\u5b9a\u6027\u7ed3\u679c\u3002\u7b2c\u4e00\u5f20\u56fe\u50cf\u5c55\u793a\u4e86\u5728\u4e0d\u540c\u9a7e\u9a76\u901f\u5ea6\u4e0b\uff0cVADv2\u9884\u6d4b\u7684\u591a\u6a21\u6001\u89c4\u5212\u8f68\u8ff9\u3002\u7b2c\u4e8c\u5f20\u56fe\u50cf\u5c55\u793a\u4e86\u5728\u6362\u9053\u573a\u666f\u4e2d\uff0cVADv2\u5bf9\u5411\u524d\u7f13\u884c\u548c\u591a\u6a21\u6001\u5de6\u8f6c\u8f68\u8ff9\u7684\u9884\u6d4b\u3002\u7b2c\u4e09\u5f20\u56fe\u50cf\u63cf\u8ff0\u4e86\u5728\u8def\u53e3\u7684\u53f3\u6362\u9053\u573a\u666f\uff0cVADv2\u4e3a\u76f4\u884c\u548c\u5411\u53f3\u6362\u9053\u9884\u6d4b\u4e86\u591a\u6761\u8f68\u8ff9\u3002\u6700\u540e\u4e00\u5f20\u56fe\u50cf\u5c55\u793a\u4e86\u4e00\u4e2a\u6362\u9053\u573a\u666f\uff0c\u5176\u4e2d\u76ee\u6807\u8f66\u9053\u6709\u4e00\u8f86\u8f66\uff0cVADv2\u9884\u6d4b\u4e86\u591a\u6761\u5408\u7406\u7684\u6362\u9053\u8f68\u8ff9\u3002<\/p>\n\n\n\n

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

      5 Conclusion<\/strong><\/h2>\n\n\n\n

      \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86VADv2\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8e\u6982\u7387\u89c4\u5212\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\u3002\u5728CARLA\u6a21\u62df\u5668\u4e2d\uff0cVADv2\u8fd0\u884c\u7a33\u5b9a\uff0c\u5e76\u53d6\u5f97\u4e86\u76ee\u524d\u6700\u5148\u8fdb\u7684\u95ed\u73af\u6027\u80fd\u3002\u8fd9\u79cd\u6982\u7387\u8303\u5f0f\u7684\u53ef\u884c\u6027\u4e3b\u8981\u5f97\u5230\u4e86\u9a8c\u8bc1\u3002\u7136\u800c\uff0c\u5176\u5728\u66f4\u590d\u6742\u7684\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\u4ecd\u6709\u5f85\u63a2\u7d22\uff0c\u8fd9\u5c06\u4f5c\u4e3a\u672a\u6765\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n

      \u53c2\u8003<\/strong><\/h2>\n\n\n\n

      [1].VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning.<\/p>\n","protected":false},"excerpt":{"rendered":"

      1 Introduction \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u662f […]<\/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-8291","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\/8291"}],"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=8291"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8291\/revisions"}],"predecessor-version":[{"id":8306,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8291\/revisions\/8306"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=8291"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=8291"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=8291"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}