{"id":8953,"date":"2024-03-19T16:57:08","date_gmt":"2024-03-19T08:57:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8953"},"modified":"2024-03-19T16:57:14","modified_gmt":"2024-03-19T08:57:14","slug":"2024-03-19-%e4%b8%80%e6%96%87%e9%80%9f%e8%a7%88%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%a1%8c%e4%b8%9a%e8%bf%91%e5%b9%b4%e6%9d%a5%e5%9c%a8%e7%ab%af%e5%88%b0%e7%ab%af%e8%a7%84%e5%88%92%e7%9a%84%e7%a0%94","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/19\/8953\/","title":{"rendered":"2024-03-19 \u4e00\u6587\u901f\u89c8\u81ea\u52a8\u9a7e\u9a76\u884c\u4e1a\u8fd1\u5e74\u6765\u5728\u7aef\u5230\u7aef\u89c4\u5212\u7684\u7814\u7a76\u8fdb\u5c55"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-165-1024x192.png\" alt=\"\" class=\"wp-image-8954\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-165-1024x192.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-165-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-165-768x144.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-165.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p><strong>\u672c\u6587\u4e3a2022\u5e74-2023\u5e74\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u4e2d\u81ea\u52a8\u9a7e\u9a76\u7684\u7aef\u5230\u7aef\u89c4\u5212\u7efc\u8ff0\uff0c\u65e8\u5728\u5feb\u901f\u56de\u987e\u76ee\u524d\u81ea\u52a8\u9a7e\u9a76\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u4e2d\u7684\u65b9\u6cd5\uff0c\u5305\u62ec\u8be6\u7ec6\u7684\u6280\u672f\u7ec6\u8282\u3002<\/strong>\u5177\u4f53\u800c\u8a00\uff0c\u672c\u6587\u6982\u8ff0\u4e86\u7aef\u5230\u7aef\u89c4\u5212\u65b9\u6cd5\uff0c\u5305\u62ecTesla FSD V12\u3001Momenta 2023\u3001\u5730\u5e73\u7ebf\u673a\u5668\u4eba 2023\u3001Motional RoboTaxi 2022\u3001Woven Planet\uff08\u4e30\u7530\uff09\u548c\u82f1\u4f1f\u8fbe\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u56de\u987e\u4e86\u7814\u7a76\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c4\u5212\u7684\u6700\u65b0\u5b66\u672f\u7814\u7a76\u3002\u672c\u6587\u4e3a\u8bfb\u8005\u63d0\u4f9b\u4e862022\u5e74-2023\u5e74\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u89c4\u5212\u7684\u7b80\u660e\u7ed3\u6784\u548c\u5feb\u901f\u5b66\u4e60\uff0c\u5e76\u4e14\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6709\u610f\u4e49\u7684\u7efc\u8ff0\u3002\u53ef\u4f5c\u4e3a\u5165\u95e8\u6750\u6599\uff0c\u4f9b\u521d\u5b66\u8005\u8ffd\u8e2a\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u6700\u5148\u8fdb\u7684\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c4\u5212\u65b9\u6cd5\uff0c\u6216\u53ef\u4f5c\u4e3a\u9ad8\u7ea7\u7814\u7a76\u8005\u7684\u8865\u5145\u6750\u6599\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-166-1024x192.png\" alt=\"\" class=\"wp-image-8955\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-166-1024x192.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-166-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-166-768x144.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-166.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<p>\u4e16\u754c\u536b\u751f\u7ec4\u7ec7\u58f0\u79f0\uff0c\u6bcf\u5e74\u7ea6\u6709130\u4e07\u4eba\u7684\u751f\u547d\u548c2770\u4ebf\u7f8e\u5143\u7684\u7ecf\u6d4e\u6210\u672c\u56e0\u9053\u8def\u4ea4\u901a\u4e8b\u6545\u800c\u7f29\u51cf\u3002\u7f8e\u56fd\u56fd\u5bb6\u9ad8\u901f\u516c\u8def\u4ea4\u901a\u5b89\u5168\u7ba1\u7406\u5c40\uff08NHTSA\uff09\u53d1\u73b0\uff0c\u8fd9\u4e9b\u4e8b\u6545\u4e2d\u768494%\uff08\u00b12.2%\uff09\u7684\u5173\u952e\u539f\u56e0\u662f\u4eba\u4e3a\u5931\u8bef\u3002\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6709\u53ef\u80fd\u901a\u8fc7\u6d88\u9664\u4eba\u7c7b\u9a7e\u9a76\u5458\u7ecf\u5e38\u72af\u7684\u9519\u8bef\u6765\u5927\u91cf\u6d88\u9664\u4eba\u4e3a\u5931\u8bef\uff0c\u4ece\u800c\u63d0\u9ad8\u9a7e\u9a76\u5458\u7684\u5b89\u5168\u6027\uff0c\u5e76\u4e14\u51cf\u5c11\u7ecf\u6d4e\u548c\u62e5\u5835\u95ee\u9898\u3002\u81ea\u52a8\u9a7e\u9a76\u662f\u6307\u8f66\u8f86\u5728\u6ca1\u6709\u4eba\u4e3a\u5e72\u9884\u7684\u60c5\u51b5\u4e0b\u81ea\u4e3b\u8fd0\u884c\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u79cd\u5728\u6ca1\u6709\u9a7e\u9a76\u5458\u5e72\u9884\u7684\u60c5\u51b5\u4e0b\u901a\u8fc7\u8bc6\u522b\u5916\u90e8\u73af\u5883\u6765\u63a7\u5236\u8f66\u8f86\u5230\u8fbe\u76ee\u7684\u5730\u7684\u6280\u672f\u3002\u800c\u4f5c\u4e3a\u63a7\u5236\u5668\u8ddf\u8e2a\u76ee\u6807\u7684\u8f68\u8ff9\u89c4\u5212\uff0c\u662f\u5176\u4e2d\u7684\u4e00\u9879\u91cd\u8981\u4efb\u52a1\u3002\u9884\u6d4b\u9053\u8def\u4f7f\u7528\u8005\u7684\u884c\u4e3a\u5bf9\u4e8e\u957f\u671f\u89c4\u5212\u662f\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u5927\u591a\u6570\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u5747\u662f\u57fa\u4e8e\u5176\u4ed6\u9053\u8def\u4f7f\u7528\u8005\u7684\u884c\u4e3a\u4e0e\u751f\u6210\u7684\u8f68\u8ff9\u65e0\u5173\u7684\u5047\u8bbe\u3002\u9884\u6d4b\u7684\u8f68\u8ff9\u5728\u89c4\u5212\u8fc7\u7a0b\u4e2d\u5047\u8bbe\u662f\u56fa\u5b9a\u7684\u3002\u8fd9\u63a8\u52a8\u4e86\u4ea4\u4e92\u5f0f\u8f68\u8ff9\u89c4\u5212\uff0c\u8fd9\u79cd\u89c4\u5212\u65b9\u5f0f\u5728\u89c4\u5212\u9636\u6bb5\u5df2\u7ecf\u8003\u8651\u4e86\u5176\u4ed6\u9053\u8def\u4f7f\u7528\u8005\u7684\u53cd\u5e94\u3002\u5f53\u524d\u7684\u6311\u6218\u662f\u8ba1\u7b97\u8d1f\u8f7d\u548c\u5bf9\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u4e0d\u786e\u5b9a\u6027\u7684\u8003\u8651\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u7814\u7a76\u4e86\u53ef\u4ee5\u9002\u5e94\u9053\u8def\u4f7f\u7528\u8005\u53d8\u5316\u7684\u5b66\u4e60\u65b9\u6cd5\uff0c\u4f8b\u5982\u5f3a\u5316\u5b66\u4e60\u548c\u5206\u7c7b\u7b97\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"617\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-167.png\" alt=\"\" class=\"wp-image-8956\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-167.png 617w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-167-300x148.png 300w\" sizes=\"(max-width: 617px) 100vw, 617px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-168-1024x193.png\" alt=\"\" class=\"wp-image-8957\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-168-1024x193.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-168-300x57.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-168-768x145.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-168.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5de5\u4e1a\u754c<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u4ecb\u7ecd2022\u5e74-2023\u5e74\u5f53\u524d\u884c\u4e1a\u5185\u4e3b\u6d41\u7684\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c4\u5212\u6280\u672f\uff0c\u5305\u62ec\u7279\u65af\u62c9\u3001Momenta\u548c\u82f1\u4f1f\u8fbe\u3002\u8fd9\u4e9b\u7aef\u5230\u7aef\u89c4\u5212\u901a\u5e38\u6ca1\u6709\u516c\u5f00\u7684\u8be6\u7ec6\u4ecb\u7ecd\uff0c\u672c\u6587\u65e8\u5728\u901a\u8fc7\u7ed3\u5408\u73b0\u6709\u4fe1\u606f\uff08\u5305\u62ec\u53e3\u5934\u62a5\u544a\u3001\u89c6\u9891\u548c\u65b0\u95fb\uff09\u6765\u603b\u7ed3\u5176\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>3.1 Tesla&nbsp;FSD&nbsp;V12&nbsp;202<\/strong><strong>3<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1\u7279\u65af\u62c9\u5c1a\u672a\u516c\u5e03\u4efb\u4f55\u5173\u4e8e\u5176\u8fd0\u52a8\u89c4\u5212\u6280\u672f\u7684\u5b98\u65b9\u7814\u7a76\u6587\u6863\uff0c\u4f46\u5176\u6700\u65b0\u7684\u7814\u7a76\u6210\u679c\u5df2\u5728CVPR 2023\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7814\u8ba8\u4f1a\u4e0a\u516c\u5e03\u3002\u867d\u7136\u5173\u4e8e\u7814\u7a76\u5b8c\u6574\u6d41\u7a0b\u7684\u8be6\u7ec6\u4fe1\u606f\u6709\u9650\uff0c\u4f46\u662f\u53ef\u4ee5\u5176\u4f7f\u7528\u4e86\u7aef\u5230\u7aef\u89c4\u5212\u3002\u73b0\u6709\u7684\u4fe1\u606f\u8868\u660e\uff0c<strong>\u7279\u65af\u62c9\u5728BEV\u7a7a\u95f4\u4e2d\u4f7f\u7528\u7aef\u5230\u7aef\u5360\u7528\u7f51\u7edc\u5b9e\u73b0\u89c4\u5212\u3002<\/strong>\u57fa\u4e8e\u5360\u7528\u7684\u89c4\u5212\u524a\u5f31\u4e86\u81ea\u52a8\u9a7e\u9a76\u5bf9\u9ad8\u7cbe\u5730\u56fe\u7684\u4f9d\u8d56\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u5c55\u73b0\u51fa\u5f88\u591a\u4f18\u52bf\uff0c\u4f8b\u5982\u66f4\u597d\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u548c\u66f4\u4f18\u7684BEV\u7a7a\u95f4\u89c4\u5212\u3002\u540c\u6837\u5730\uff0c\u7279\u65af\u62c9\u7684\u89c4\u5212\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u5927\u91cf\u6570\u636e\u3002\u5230\u76ee\u524d\u4e3a\u6b62\uff0c\u5173\u4e8e\u7279\u65af\u62c9\u7aef\u5230\u7aef\u89c4\u5212\u7684\u8be6\u7ec6\u4fe1\u606f\u4ecd\u7136\u975e\u5e38\u6709\u9650\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"620\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-169.png\" alt=\"\" class=\"wp-image-8958\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-169.png 620w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-169-300x165.png 300w\" sizes=\"(max-width: 620px) 100vw, 620px\" \/><\/figure>\n\n\n\n<p><strong>3.2 Momenta&nbsp;2023<\/strong><\/p>\n\n\n\n<p>Momenta\u662f\u4e00\u5bb6\u9886\u5148\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u516c\u53f8\u3002\u4e0e\u7279\u65af\u62c9\u4e00\u6837\uff0cMomenta\u7684\u89c4\u5212\u65b9\u6cd5\u4e5f\u7f3a\u5c11\u516c\u5f00\u4fe1\u606f\uff0c\u76ee\u524d\u8fd8\u6ca1\u6709\u5173\u4e8e\u5176\u8fd0\u52a8\u89c4\u5212\u6280\u672f\u7684\u5b98\u65b9\u7814\u7a76\u6587\u6863\u88ab\u53d1\u8868\u3002Momenta\u5728CVPR 2023\u81ea\u52a8\u9a7e\u9a76\u7814\u8ba8\u4f1a\u4e0a\u4ecb\u7ecd\u4e86\u4ed6\u4eec\u7684\u5de5\u4f5c\u3002\u672c\u6587\u63a8\u6d4b\u5176\u4f7f\u7528\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u7aef\u5230\u7aef\u89c4\u5212\u6765\u8ba1\u7b97\u8f68\u8ff9\u3002\u4e0e\u7279\u65af\u62c9\u7684\u5360\u7528\u7f51\u7edc\u4e0d\u540c\uff0c<strong>Momenta\u4f7f\u7528\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u6765\u5b9e\u65f6\u751f\u6210\u7528\u4e8e\u89c4\u5212\u7684\u5730\u56fe\u3002<\/strong>Momenta\u58f0\u79f0\uff0c\u4ed6\u4eec\u5c06\u57282025\u5e74\u524d\u5b8c\u6210\u7aef\u5230\u7aef\u89c4\u5212\u548c\u5b8c\u5168\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u56fe2\u5c55\u793a\u4e86Momenta\u7684\u7aef\u5230\u7aef\u89c4\u5212\u67b6\u6784\uff0c\u8fd9\u662f\u8fc4\u4eca\u4e3a\u6b62\u5173\u4e8e\u4ed6\u4eec\u7684\u6700\u65b0\u6d88\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"650\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-170.png\" alt=\"\" class=\"wp-image-8959\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-170.png 650w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-170-300x131.png 300w\" sizes=\"(max-width: 650px) 100vw, 650px\" \/><\/figure>\n\n\n\n<p><strong>3.3 \u5730\u5e73\u7ebf\u673a\u5668\u4eba&nbsp;2023<\/strong><\/p>\n\n\n\n<p>\u5730\u5e73\u7ebf\u673a\u5668\u4eba\u57282023\u5e74NuPlan\u6311\u6218\u8d5b\u4e2d\u4ecb\u7ecd\u4e86\u5176\u89c4\u5212\u65b9\u6cd5\u3002<strong>\u5730\u5e73\u7ebf\u673a\u5668\u4eba\u91c7\u7528\u4e00\u79cd\u65b0\u578b\u7684\u7a7a\u95f4-\u65f6\u95f4\u70ed\u56fe\u8868\u793a\u7528\u4e8e\u89c4\u5212\uff0c\u4ee5\u53ca\u76f8\u5e94\u7684\u540e\u7aef\u6c42\u89e3\u5668\u4ee5\u786e\u4fdd\u5b89\u5168\u4e14\u8212\u9002\u7684\u6700\u7ec8\u89c4\u5212\u3002<\/strong>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u5728\u8f66\u8f86\u7684\u524d\u8fdb\u548c\u5b89\u5168\u6027\u4e4b\u95f4\u53d6\u5f97\u4e86\u6709\u6548\u7684\u5e73\u8861\uff0c\u751f\u6210\u4e86\u5b89\u5168\u4e14\u8212\u9002\u7684\u8f68\u8ff9\u3002\u5728NuPlan\u6311\u6218\u8d5b\u4e2d\uff0c\u5730\u5e73\u7ebf\u673a\u5668\u4eba\u83b7\u5f97\u4e86\u7b2c\u4e8c\u9ad8\u7684\u603b\u5206\uff0c\u540c\u65f6\u5728\u81ea\u8f66\u524d\u8fdb\u548c\u8212\u9002\u5ea6\u6307\u6807\u4e0a\u83b7\u5f97\u4e86\u6700\u4f73\u7684\u5206\u6570\u3002\u56fe3\u5c55\u793a\u4e86\u5730\u5e73\u7ebf\u673a\u5668\u4eba\u5728BEV\u7a7a\u95f4\u4e2d\u7684\u7aef\u5230\u7aef\u89c4\u5212\u67b6\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"342\" height=\"279\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-171.png\" alt=\"\" class=\"wp-image-8960\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-171.png 342w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-171-300x245.png 300w\" sizes=\"(max-width: 342px) 100vw, 342px\" \/><\/figure>\n\n\n\n<p><strong>3.4 Motional&nbsp;L4-RoboTaxi&nbsp;2022<\/strong><\/p>\n\n\n\n<p><strong>2022\u5e74\uff0cMotional L4-RoboTaxi\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u5668\uff08DriverIRL\uff09\uff0c\u8be5\u89c4\u5212\u5668\u901a\u8fc7\u4f7f\u7528\u9006\u5f3a\u5316\u5b66\u4e60\uff08IRL\uff09\u4f7f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u5bc6\u96c6\u7684\u57ce\u5e02\u4ea4\u901a\u4e2d\u884c\u9a76\u3002<\/strong>DriverIRL\u7684\u67b6\u6784\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"343\" height=\"130\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-172.png\" alt=\"\" class=\"wp-image-8961\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-172.png 343w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-172-300x114.png 300w\" sizes=\"(max-width: 343px) 100vw, 343px\" \/><\/figure>\n\n\n\n<p>DriverIRL\u751f\u6210\u4e00\u7ec4\u4e0d\u540c\u7684\u8f68\u8ff9\u5019\u9009\uff0c\u7136\u540e\u4f7f\u7528\u8f7b\u91cf\u7ea7\u4e14\u53ef\u89e3\u91ca\u7684\u5b89\u5168\u6ee4\u6ce2\u5668\u5b9e\u73b0\u8fc7\u6ee4\u3002\u5b66\u4e60\u7684\u6a21\u578b\u5bf9\u8f68\u8ff9\u8fdb\u884c\u8bc4\u5206\uff0c\u7136\u540e\u7531\u8f66\u8f86\u7684\u4f4e\u7ea7\u63a7\u5236\u5668\u8ddf\u8e2a\u3002DriverIRL\u662f\u4e00\u79cd\u6e05\u6670\u4e14\u53ef\u89e3\u91ca\u7684\u65b9\u6cd5\uff0c\u5176\u53ef\u4ee5\u4e0e\u89c4\u5219\u76f8\u7ed3\u5408\uff0c\u4ee5\u63d0\u9ad8\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p>Motional L4-RoboTaxi\u901a\u8fc7\u4f7f\u7528\u9006\u5f3a\u5316\u5b66\u4e60\u7684\u89c4\u5212\u5e76\u4e0d\u662f\u4e00\u79cd\u5b8c\u5168\u7aef\u5230\u7aef\u7684\u65b9\u6cd5\u3002\u5c3d\u7ba1DriverIRL\u5e76\u6ca1\u6709\u5e7f\u4e3a\u4eba\u77e5\uff0c\u4f46\u662f\u5b83\u5df2\u7ecf\u5e94\u7528\u4e8e\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e0a\uff0c\u5176\u5177\u6709\u5353\u8d8a\u7684\u6027\u80fd\u5e76\u4e14\u4f18\u4e8e\u667a\u80fd\u9a7e\u9a76\u5458\u6a21\u578b\u3002\u76ee\u524d\uff0c\u4e00\u4e9b\u516c\u53f8\u4e5f\u5bf9L4-RoboTaxi\u4f7f\u7528\u76f8\u540c\u7684\u89c4\u5212\u65b9\u6cd5\uff0c\u56e0\u4e3a\u8be5\u65b9\u6cd5\u4e0e\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u80fd\u591f\u5f88\u597d\u5730\u7ed3\u5408\u3002<\/p>\n\n\n\n<p><strong>3.5 Woven Planet\uff1aUrban Driver<\/strong><\/p>\n\n\n\n<p><strong>Urban Driver 2022\u662f\u4e00\u79cd\u4f17\u6240\u5468\u77e5\u7684\u89c4\u5212\u65b9\u6cd5\uff0c\u5b83\u4e3a\u590d\u6742\u7684\u57ce\u5e02\u9a7e\u9a76\u63d0\u4f9b\u4e86\u826f\u597d\u7684\u6cdb\u5316\u80fd\u529b\u548c\u6027\u80fd\uff0c\u5176\u901a\u5e38\u7528\u4f5c\u6bd4\u8f83\u7684\u57fa\u7ebf\u3002<\/strong>Urban Driver 2022\u901a\u8fc7\u4f7f\u7528\u95ed\u73af\u8bad\u7ec3\u3001\u6570\u636e\u9a71\u52a8\u4eff\u771f\u5668\u7684\u4e2d\u7ea7\u8868\u793a\u548c\u5927\u91cf\u73b0\u5b9e\u4e16\u754c\u6f14\u793a\u6765\u5b66\u4e60\u57ce\u5e02\u73af\u5883\u4e2d\u7684\u81ea\u52a8\u9a7e\u9a76\u7b56\u7565\u89c4\u5212\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5f00\u53d1\u4e86\u4e00\u79cd\u95ed\u73af\u4eff\u771f\u5668\u548c\u4e30\u5bcc\u7684\u4e2d\u7ea7\u77e2\u91cf\u5316\u8868\u793a\u6765\u5b66\u4e60\u80fd\u591f\u6267\u884c\u5404\u79cd\u884c\u4e3a\u7684\u7b56\u7565\u89c4\u5212\u3002\u6b64\u5916\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528\u4e00\u79cd\u80fd\u591f\u6839\u636e\u8fc7\u53bb\u6f14\u793a\u5bf9\u771f\u5b9e\u9a7e\u9a76\u4f53\u9a8c\u8fdb\u884c\u9ad8\u6548\u95ed\u73af\u4eff\u771f\u7684\u5fae\u5206\u4eff\u771f\u5668\uff0c\u5e76\u4e14\u901a\u8fc7\u53cd\u5411\u4f20\u64ad\u6765\u5feb\u901f\u8ba1\u7b97\u7b56\u7565\u68af\u5ea6\uff0c\u4ece\u800c\u5b9e\u73b0\u5feb\u901f\u5b66\u4e60\u3002\u7b56\u7565\u68af\u5ea6\u7528\u4e8e\u5b66\u4e60\u884c\u4e3a\u7684\u72b6\u6001\u548c\u6620\u5c04\u51fd\u6570\u3002\u8f68\u8ff9\u53ef\u4ee5\u7528\u6620\u5c04\u51fd\u6570\u751f\u6210\uff0c\u7136\u540e\u901a\u8fc7\u5f15\u5bfc\u635f\u5931\u51fd\u6570\u6765\u4f7f\u8f68\u8ff9\u6536\u655b\u3002\u56fe5\u5c55\u793a\u4e86\u7528\u4e8e\u5b66\u4e60\u9a7e\u9a76\u7b56\u7565\u89c4\u5212\u7684\u95ed\u73af\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"183\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-173.png\" alt=\"\" class=\"wp-image-8962\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-173.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-173-300x80.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>3.6 Nvidia\uff08\u82f1\u4f1f\u8fbe\uff09<\/strong><\/p>\n\n\n\n<p><strong>1\uff09\u6811\u7ed3\u6784\u7684\u7b56\u7565\u89c4\u52122023\uff1a<\/strong><\/p>\n\n\n\n<p>\u82f1\u4f1f\u8fbe\u63d0\u51fa\u4e86\u4e00\u79cd\u4e0e\u6700\u5148\u8fdb\u7684\u6df1\u5ea6\u5b66\u4e60\u9884\u6d4b\u6a21\u578b\u517c\u5bb9\u7684\u6811\u7b56\u7565\u89c4\u5212\uff08TPP\uff09\uff0c\u4ee5\u751f\u6210\u591a\u9636\u6bb5\u8fd0\u52a8\u89c4\u5212\u3002TPP\u901a\u8fc7\u6784\u5efa\u4e24\u79cd\u6811\u7ed3\u6784\u5c06\u8fde\u7eed\u89c4\u5212\u95ee\u9898\u8f6c\u5316\u4e3a\u53ef\u5904\u7406\u7684\u79bb\u6563\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08MDP\uff09\uff1a\u7528\u4e8e\u81ea\u8f66\u8f68\u8ff9\u9009\u62e9\u7684\u81ea\u8f66\u8f68\u8ff9\u6811\u548c\u7528\u4e8e\u591a\u6a21\u6001\u81ea\u8f66\u6761\u4ef6\u73af\u5883\u9884\u6d4b\u7684\u573a\u666f\u6811\u3002\u56fe6\u5c55\u793a\u4e86\u82f1\u4f1f\u8fbe\u7684\u6811\u7ed3\u6784\u7b56\u7565\u89c4\u5212\u7684\u67b6\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-174.png\" alt=\"\" class=\"wp-image-8963\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-174.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-174-300x84.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p>TPP\u7684\u6709\u6548\u6027\u5728\u57fa\u4e8e\u73b0\u5b9e\u4e16\u754cnuScenes\u6570\u636e\u96c6\u7684\u95ed\u73af\u4eff\u771f\u4e2d\u5f97\u5230\u8bc1\u660e\u3002\u95ed\u73af\u4eff\u771f\u7ed3\u679c\u8868\u660e\uff0cTPP\u663e\u8457\u4f18\u4e8e\u53ef\u4ee5\u5b9e\u65f6\u8fd0\u884c\u4e14\u8ba1\u7b97\u6210\u672c\u8f83\u4f4e\u7684\u975e\u7b56\u7565\u57fa\u51c6\u3002\u7136\u800c\uff0c\u5f53\u5b58\u5728\u5927\u91cf\u89c4\u5212\u8282\u70b9\u65f6\uff0c\u6811\u7ed3\u6784\u7b56\u7565\u89c4\u5212\u901a\u5e38\u4f1a\u6d88\u8017\u5927\u91cf\u7684\u8ba1\u7b97\u6210\u672c\u3002<\/p>\n\n\n\n<p><strong>2\uff09\u53ef\u5fae\u5206\u7684\u6811\u7b56\u7565\u89c4\u52122023\uff1a<\/strong><\/p>\n\n\n\n<p>\u82f1\u4f1f\u8fbe\u548c\u5357\u6d0b\u7406\u5de5\u5927\u5b66\uff08NTU\uff09\u5f00\u53d1\u4e86\u53ef\u5fae\u5206\u7684\u6811\u7b56\u7565\u89c4\u5212\uff08DTPP\uff09\uff0c\u5176\u9488\u5bf9\u81ea\u8f66\u6761\u4ef6\u9884\u6d4b\u548c\u4ee3\u4ef7\u6a21\u578b\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u6811\u7ed3\u6784\u7684\u7b56\u7565\u89c4\u5212\u5668\u548c\u4e00\u79cd\u53ef\u5fae\u5206\u7684\u8054\u5408\u8bad\u7ec3\u6846\u67b6\uff0c\u76f4\u63a5\u63d0\u9ad8\u4e86\u6700\u7ec8\u7684\u89c4\u5212\u6027\u80fd\u3002\u5bf9\u4e8e\u6761\u4ef6\u9884\u6d4b\uff0cDTPP\u4f7f\u7528\u4e00\u79cd\u4ee5query\u4e3a\u4e2d\u5fc3\u7684transformer\u6a21\u578b\u6765\u6267\u884c\u9ad8\u6548\u7684\u81ea\u8f66\u6761\u4ef6\u8fd0\u52a8\u9884\u6d4b\u3002\u5bf9\u4e8e\u89c4\u5212\u4ee3\u4ef7\uff0cDTPP\u63d0\u51fa\u4e86\u4e00\u79cd\u5177\u6709\u9690\u5f0f\u4ea4\u4e92\u529f\u80fd\u7684\u53ef\u5b66\u4e60context-aware\u4ee3\u4ef7\u51fd\u6570\uff0c\u4fc3\u8fdb\u4e86\u53ef\u5fae\u5206\u7684\u8054\u5408\u5b66\u4e60\u3002<\/p>\n\n\n\n<p>\u82f1\u4f1f\u8fbe\u548cNTU\u5f00\u53d1\u7684DTPP\u7684\u51b3\u7b56\u6846\u67b6\u548c\u5177\u6709\u8054\u5408\u53ef\u5b66\u4e60\u7684\u9884\u6d4b\u548c\u4ee3\u4ef7\u8bc4\u4f30\u6a21\u578b\u6846\u67b6\u5206\u522b\u5982\u56fe7\u548c\u56fe8\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"339\" height=\"291\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-175.png\" alt=\"\" class=\"wp-image-8964\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-175.png 339w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-175-300x258.png 300w\" sizes=\"(max-width: 339px) 100vw, 339px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"342\" height=\"379\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-176.png\" alt=\"\" class=\"wp-image-8965\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-176.png 342w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-176-271x300.png 271w\" sizes=\"(max-width: 342px) 100vw, 342px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0cDTPP\u4f7f\u7528\u6811\u641c\u7d22\u6765\u63a2\u7d22\u53ef\u884c\u7684\u8f68\u8ff9\u96c6\u5408\uff0c\u5176\u4e2d\u5c06\u63a2\u7d22\u7684\u8f68\u8ff9\u4f5c\u4e3a\u8f93\u5165\u3002\u6761\u4ef6\u9884\u6d4b\u88ab\u7528\u4e8e\u9884\u6d4b\u6240\u6709\u8f66\u8f86\u7684\u8f68\u8ff9\uff0c\u7136\u540e\u7531\u8bc4\u5206\u6a21\u5757\u8fdb\u884c\u8bc4\u4f30\uff0c\u4ee5\u5f15\u5bfc\u4e0b\u4e00\u6b65\u7684\u63a2\u7d22\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0cDTPP\u63a2\u7d22\u4e86\u5177\u6709\u4e30\u5bcc\u591a\u6837\u6027\u548c\u4e0e\u9053\u8def\u8f66\u8f86\u4ea4\u4e92\u7684\u5404\u79cd\u8f68\u8ff9\u3002\u8be5\u65b9\u6cd5\u4e3b\u8981\u5305\u62ec\u4e09\u4e2a\u6a21\u5757\uff1a<\/p>\n\n\n\n<p>1\uff09<strong>\u6761\u4ef6\u9884\u6d4b\uff1a<\/strong>\u6761\u4ef6\u9884\u6d4b\u901a\u8fc7\u81ea\u8f66\u4e0e\u5176\u5b83\u8f66\u8f86\u7684\u8f93\u5165\u6765\u751f\u6210\u6240\u6709\u8f66\u8f86\u7684\u9884\u6d4b\u8f68\u8ff9\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u8bc4\u5206\u6a21\u5757\uff1a<\/strong>\u9006\u5f3a\u5316\u5b66\u4e60\u7528\u4e8e\u5b66\u4e60\u9884\u6d4b\u8f68\u8ff9\u7684\u8bc4\u5206\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>\u6811\u7b56\u7565\u641c\u7d22\uff1a<\/strong>\u6811\u641c\u7d22\u7b56\u7565\u7528\u4e8e\u63a2\u7d22\u5404\u79cd\u5019\u9009\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-177-1024x192.png\" alt=\"\" class=\"wp-image-8966\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-177-1024x192.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-177-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-177-768x144.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-177.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u672c\u6587\u5c06\u56de\u987e2022\u5e74-2023\u5e74\u7814\u7a76\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c4\u5212\u7684\u6700\u65b0\u5b66\u672f\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>4.1 \u5360\u7528\u9884\u6d4b\u89c4\u5212<\/strong><\/p>\n\n\n\n<p>\u5357\u6d0b\u7406\u5de5\u5927\u5b66\u7684Liu\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u5360\u7528\u9884\u6d4b\u89c4\u5212\uff0c\u5176\u4f7f\u7528\u4e00\u79cd\u4e24\u9636\u6bb5\u5360\u7528\u9884\u6d4b\u5f15\u5bfc\u7684\u795e\u7ecf\u89c4\u5212\u5668\uff0c<strong>\u8be5\u89c4\u5212\u5668\u901a\u8fc7\u9884\u6d4b\u5f15\u5bfc\u4ee5\u8054\u5408\u7684\u65b9\u5f0f\u4f18\u4e8e\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u3002<\/strong>\u96c6\u6210\u5360\u7528\u9884\u6d4b\u548c\u89c4\u5212\u5b66\u4e60\u7684\u6846\u67b6\u5982\u56fe9\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"543\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-178.png\" alt=\"\" class=\"wp-image-8967\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-178.png 543w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-178-300x177.png 300w\" sizes=\"(max-width: 543px) 100vw, 543px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"339\" height=\"243\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-179.png\" alt=\"\" class=\"wp-image-8968\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-179.png 339w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-179-300x215.png 300w\" sizes=\"(max-width: 339px) 100vw, 339px\" \/><\/figure>\n\n\n\n<p><strong>4.2 UniAD&nbsp;2023<\/strong><\/p>\n\n\n\n<p><strong>CVPR 2023\u6700\u4f73\u8bba\u6587\u63d0\u51fa\u4e86\u9762\u5411\u89c4\u5212\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u5176\u5c06\u5168\u6808\u9a7e\u9a76\u4efb\u52a1\u6574\u5408\u5230\u4e00\u4e2a\u7f51\u7edc\u4e2d\u3002\u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u9762\u5411\u89c4\u5212\u7684\u7aef\u5230\u7aef\u6d41\u7a0b\uff1a<\/strong><strong>UniAD\u3002<\/strong>\u6240\u6709\u611f\u77e5\u548c\u9884\u6d4b\u6a21\u5757\u90fd\u5728\u4e00\u4e2atransformer\u89e3\u7801\u5668\u7ed3\u6784\u4e2d\u8fdb\u884c\u8bbe\u8ba1\uff0c\u5c06\u4efb\u52a1queries\u4f5c\u4e3a\u8fde\u63a5\u6bcf\u4e2a\u8282\u70b9\u7684\u63a5\u53e3\u3002UniAD\u7684\u6d41\u7a0b\u5982\u56fe11\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"609\" height=\"187\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-180.png\" alt=\"\" class=\"wp-image-8969\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-180.png 609w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-180-300x92.png 300w\" sizes=\"(max-width: 609px) 100vw, 609px\" \/><\/figure>\n\n\n\n<p>UniAD\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8equery\u7684\u8bbe\u8ba1\u6765\u8fde\u63a5\u6240\u6709\u8282\u70b9\uff0c\u8fd9\u5f97\u76ca\u4e8e\u73af\u5883\u4e2d\u667a\u80fd\u4f53\u4ea4\u4e92\u66f4\u4e30\u5bcc\u7684\u8868\u793a\u3002\u8003\u8651\u5230\u4ece\u524d\u9762\u8282\u70b9\u6240\u63d0\u53d6\u7684\u77e5\u8bc6\uff0c\u5f00\u53d1\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u89c4\u5212\u5668\u6765\u9884\u6d4b\u81ea\u8f66\u672a\u6765\u7684\u8def\u5f84\u70b9\u3002UniAD\u662f\u53c2\u8003\u7279\u65af\u62c9\u7684\u5360\u7528\u9884\u6d4b\u7f51\u7edc\u8bbe\u8ba1\u7684\uff0c\u4f46\u662f\u5176\u5177\u6709\u8bed\u4e49\u5206\u5272\u548c\u5728\u7ebf\u5efa\u56fe\u3002\u5b83\u8bad\u7ec3\u6bcf\u4e2a\u6a21\u5757\uff0c\u5e76\u4e14\u5229\u7528\u8054\u5408\u4f18\u5316\u524d\u9762\u8282\u70b9\u5230\u9a7e\u9a76\u573a\u666f\u4e2d\u6700\u7ec8\u89c4\u5212\u7684\u4f18\u52bf\u3002\u867d\u7136UniAD\u5728\u5f00\u73af\u8bc4\u4f30\u4e2d\u5f97\u5230\u9a8c\u8bc1\uff0c\u4f46\u662f\u5c1a\u672a\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u5f97\u5230\u9a8c\u8bc1\u3002<\/p>\n\n\n\n<p><strong>4.3 NTU\u89c4\u5212<\/strong><\/p>\n\n\n\n<p>Huang\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u9884\u6d4b\u884c\u4e3a\u7aef\u5230\u7aef\u89c4\u5212\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5305\u542b\u4e09\u4e2a\u6a21\u5757\uff1a<\/p>\n\n\n\n<p>1\uff09<strong>\u884c\u4e3a\u751f\u6210\u6a21\u5757\uff0c<\/strong>\u5176\u4ee5\u8f68\u8ff9\u5019\u9009\u7684\u5f62\u5f0f\u4ea7\u751f\u4e00\u7ec4\u4e0d\u540c\u7684\u5019\u9009\u884c\u4e3a\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u6761\u4ef6\u9884\u6d4b\u6a21\u5757\uff0c<\/strong>\u5176\u57fa\u4e8e\u6bcf\u4e2a\u8f68\u8ff9\u5019\u9009\u6765\u9884\u6d4b\u5176\u5b83\u667a\u80fd\u4f53\u7684\u672a\u6765\u8f68\u8ff9\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>\u8bc4\u5206\u6a21\u5757\uff0c<\/strong>\u5176\u4f7f\u7528\u6700\u5927\u71b5\u9006\u5f3a\u5316\u5b66\u4e60\u6765\u8bc4\u4f30\u5019\u9009\u7684\u89c4\u5212\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"260\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-181.png\" alt=\"\" class=\"wp-image-8970\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-181.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-181-300x141.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/figure>\n\n\n\n<p>\u884c\u4e3a\u751f\u6210\u6a21\u5757\u4ea7\u751f\u4e00\u7ec4\u4e0d\u540c\u7684\u8f68\u8ff9\u5019\u9009\u3002\u6761\u4ef6\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\u57fa\u4e8e\u6bcf\u4e2a\u8f68\u8ff9\u5019\u9009\u6765\u9884\u6d4b\u5176\u5b83\u667a\u80fd\u4f53\u7684\u672a\u6765\u8f68\u8ff9\u3002\u8bc4\u5206\u6a21\u5757\u4f7f\u7528\u901a\u8fc7\u6700\u5927\u71b5\u9006\u5f3a\u5316\u5b66\u4e60\u83b7\u53d6\u7684\u4ee3\u4ef7\u51fd\u6570\u6765\u8bc4\u4f30\u5019\u9009\u89c4\u5212\u7ed3\u679c\u3002\u6761\u4ef6\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\u5c06\u77e2\u91cf\u5316\u5730\u56fe\u3001\u667a\u80fd\u4f53\u8f68\u8ff9\u548c\u81ea\u8f66\u89c4\u5212\u4f5c\u4e3a\u8f93\u5165\uff0c\u4ee5\u9884\u6d4b\u5176\u5b83\u667a\u80fd\u4f53\u7684\u672a\u6765\u8f68\u8ff9\u3002\u6761\u4ef6\u9884\u6d4b\u7f51\u7edc\u7684\u7ed3\u6784\u5982\u56fe13\u6240\u793a\uff0c\u5176\u4e2d\u81ea\u8f66\u89c4\u5212\u88ab\u878d\u5408\u5230\u7f51\u7edc\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u4ee5\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u89c4\u5212\u8f68\u8ff9\u4e3a\u6761\u4ef6\u5bf9\u5176\u5b83\u667a\u80fd\u4f53\u7684\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"286\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-182.png\" alt=\"\" class=\"wp-image-8971\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-182.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-182-300x155.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/figure>\n\n\n\n<p>\u6761\u4ef6\u9884\u6d4b\u6a21\u578b\u63d0\u9ad8\u4e86\u9884\u6d4b\u7cbe\u5ea6\uff0c\u5e76\u4e14\u6709\u52a9\u4e8e\u4e0b\u6e38\u8bc4\u5206\u6a21\u5757\u66f4\u597d\u5730\u8bc4\u4f30\u5019\u9009\u51b3\u7b56\uff0c\u4ece\u800c\u5b9e\u73b0\u7c7b\u4f3c\u4eba\u7c7b\u7684\u884c\u4e3a\u3002<\/p>\n\n\n\n<p><strong>4.4 nuPlan\u89c4\u5212\u6311\u6218\u8d5bCVPR&nbsp;2023<\/strong><\/p>\n\n\n\n<p><strong>nuPlan\u7684\u53d1\u5e03\u6807\u5fd7\u7740\u8f66\u8f86\u8fd0\u52a8\u89c4\u5212\u7814\u7a76\u8fdb\u5165\u4e00\u4e2a\u65b0\u7684\u65f6\u4ee3\uff0c\u5176\u63d0\u4f9b\u4e86\u9996\u4e2a\u9700\u8981\u7cbe\u786e\u77ed\u671f\u89c4\u5212\u548c\u957f\u671f\u81ea\u8f66\u9884\u6d4b\u7684\u5927\u89c4\u6a21\u73b0\u5b9e\u4e16\u754c\u6570\u636e\u96c6\u548c\u8bc4\u4f30\u65b9\u6848\u3002<\/strong>\u56fe14\u5c55\u793a\u4e86\u5728nuPlan\u89c4\u5212\u6311\u6218\u8d5bCVPR 2023\u4e2d\u83b7\u5f97\u51a0\u519b\u7684\u67b6\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"352\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-183.png\" alt=\"\" class=\"wp-image-8972\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-183.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-183-300x191.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/figure>\n\n\n\n<p>PDM-Closed\u6a21\u5757\u9009\u62e9\u4e00\u6761\u4e2d\u5fc3\u7ebf\u3001\u9884\u6d4b\u73af\u5883\u5e76\u4e14\u6784\u5efa\u4e0d\u540c\u7684\u8f68\u8ff9\u5019\u9009\uff0c\u8fd9\u4e9b\u8f68\u8ff9\u5019\u9009\u88ab\u4eff\u771f\u548c\u8bc4\u5206\u7528\u4e8e\u8f68\u8ff9\u9009\u62e9\u3002PDM-Hybrid\u6a21\u5757\u4f7f\u7528PDM-Closed\u4e2d\u5fc3\u7ebf\u3001\u8f68\u8ff9\u548c\u81ea\u8f66\u5386\u53f2\u6765\u9884\u6d4b\u504f\u79fb\uff0c\u4ece\u800c\u4ec5\u6821\u6b63\u957f\u671f\u8def\u5f84\u70b9\u5e76\u4e14\u9650\u5236\u5b66\u4e60\u6a21\u578b\u5728\u95ed\u73af\u4eff\u771f\u4e2d\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-184-1024x192.png\" alt=\"\" class=\"wp-image-8973\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-184-1024x192.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-184-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-184-768x144.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-184.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p><strong>\u672c\u6587\u63d0\u4f9b\u4e86\u81ea\u52a8\u9a7e\u9a76\u5934\u90e8\u4f01\u4e1a\u548c\u5b66\u672f\u754c\u5bf9\u7aef\u5230\u7aef\u89c4\u5212\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\u3002<\/strong>\u5728\u5de5\u4e1a\u754c\uff0c\u7279\u65af\u62c9\u5728BEV\u7a7a\u95f4\u4e2d\u4f7f\u7528\u7aef\u5230\u7aef\u5360\u7528\u7f51\u7edc\u5b9e\u73b0\u89c4\u5212\uff1bMomenta\u4f7f\u7528\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u6765\u5b9e\u65f6\u751f\u6210\u7528\u4e8e\u89c4\u5212\u7684\u5730\u56fe\uff1b\u5730\u5e73\u7ebf\u673a\u5668\u4eba\u91c7\u7528\u4e00\u79cd\u65b0\u578b\u7684\u7a7a\u95f4-\u65f6\u95f4\u70ed\u56fe\u8868\u793a\u7528\u4e8e\u89c4\u5212\uff0c\u4ee5\u53ca\u76f8\u5e94\u7684\u540e\u7aef\u6c42\u89e3\u5668\u4ee5\u786e\u4fdd\u5b89\u5168\u4e14\u8212\u9002\u7684\u6700\u7ec8\u89c4\u5212\uff1b\u82f1\u4f1f\u8fbe\u548c\u5357\u6d0b\u7406\u5de5\u5927\u5b66\uff08NTU\uff09\u5f00\u53d1\u4e86\u53ef\u5fae\u5206\u7684\u6811\u7b56\u7565\u89c4\u5212\uff08DTPP\uff09\uff0c\u5176\u9488\u5bf9\u81ea\u8f66\u6761\u4ef6\u9884\u6d4b\u548c\u4ee3\u4ef7\u6a21\u578b\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u6811\u7ed3\u6784\u7684\u7b56\u7565\u89c4\u5212\u5668\u548c\u4e00\u79cd\u53ef\u5fae\u5206\u7684\u8054\u5408\u8bad\u7ec3\u6846\u67b6\u7b49\u3002\u5728\u5b66\u672f\u754c\uff0c\u5357\u6d0b\u7406\u5de5\u5927\u5b66\u7684Liu\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u5360\u7528\u9884\u6d4b\u89c4\u5212\uff0c\u5176\u4f7f\u7528\u4e00\u79cd\u4e24\u9636\u6bb5\u5360\u7528\u9884\u6d4b\u5f15\u5bfc\u7684\u795e\u7ecf\u89c4\u5212\u5668\uff0c\u8be5\u89c4\u5212\u5668\u901a\u8fc7\u9884\u6d4b\u5f15\u5bfc\u4ee5\u8054\u5408\u7684\u65b9\u5f0f\u4f18\u4e8e\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\uff1bHuang\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u9884\u6d4b\u884c\u4e3a\u7aef\u5230\u7aef\u89c4\u5212\u6846\u67b6\u7b49\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6458\u8981 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