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    <\/strong>2.2 \u81ea\u52a8\u9a7e\u9a76\u7684\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5<\/strong><\/h3>\n\n\n\n

    \u7531\u4e8e\u4e0d\u540c\u6a21\u6001\u7684\u4e92\u8865\u7279\u6027\uff0c\u591a\u6a21\u6001\u4f20\u611f\u5668\u878d\u5408\u5df2\u6210\u4e3a\u5404\u79cd\u7814\u7a76\u9886\u57df\u7684\u9996\u9009\u65b9\u6cd5\u3002\u5bf9\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u4f20\u611f\u5668\u878d\u5408\u610f\u5473\u7740\u5c06\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7c7b\u578b\u7684\u5f02\u6784\u6570\u636e\u96c6\u6210\u5230\u4e00\u8d77\uff0c\u4ee5\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u4fe1\u606f\u51c6\u786e\u6027\uff0c\u4e3a\u540e\u7eed\u5b89\u5168\u53ef\u9760\u7684\u51b3\u7b56\u63d0\u4f9b\u91cd\u8981\u57fa\u7840\u3002\u6700\u8fd1\u7684\u591a\u6a21\u6001\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u8868\u660e\uff0c\u5c06RGB\u56fe\u50cf\u4e0e\u6df1\u5ea6\u548c\u8bed\u4e49\u6570\u636e\u8fdb\u884c\u96c6\u6210\u53ef\u4ee5\u63d0\u9ad8\u9a7e\u9a76\u6027\u80fd\u3002LAV\u91c7\u7528PointPainting\u6765\u878d\u5408\u591a\u6a21\u6001\u4f20\u611f\u5668\uff0c\u5b83\u5c06\u4eceRGB\u56fe\u50cf\u63d0\u53d6\u7684\u8bed\u4e49\u7c7b\u4fe1\u606f\u4e0e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u8fdb\u884c\u8fde\u63a5\u3002ContFuse\u5229\u7528\u8fde\u7eed\u5377\u79ef\u6765\u878d\u5408\u4e0d\u540c\u5206\u8fa8\u7387\u7684\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u56fe\u3002TransFuser\u662fCARLA\u7684\u4e00\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u57fa\u51c6\u6a21\u578b\uff0c\u91c7\u7528\u591a\u9636\u6bb5CNN\u83b7\u53d6\u591a\u5206\u8fa8\u7387\u7279\u5f81\uff0c\u5e76\u4f7f\u7528\u81ea\u6ce8\u610f\u529b\u72ec\u7acb\u5904\u7406\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u8868\u793a\uff0c\u4f46\u65e0\u6cd5\u5b66\u4e60\u4e0d\u540c\u6a21\u6001\u4e4b\u95f4\u7684\u590d\u6742\u76f8\u5173\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4ea4\u53c9\u6ce8\u610f\u529b\u5728\u5904\u7406\u591a\u6a21\u6001\u7279\u5f81\u65f6\u8868\u73b0\u51fa\u66f4\u591a\u4f18\u52bf\uff1b\u56e0\u6b64\uff0c\u5b83\u5728\u6700\u8fd1\u7684\u4e00\u4e9b\u5de5\u4f5c\uff08\u4f8b\u5982Uniad\u3001ReasonNet\u548cInterfuser\uff09\u4e2d\u88ab\u5e7f\u6cdb\u4f7f\u7528\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5c06\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u53ef\u5b66\u4e60\u67e5\u8be2\u521d\u59cb\u5316\u4e3a\u968f\u673a\u751f\u6210\u7684\u53c2\u6570\uff0c\u672a\u80fd\u5229\u7528\u591a\u6a21\u6001\u7279\u5f81\u4e2d\u8574\u542b\u7684\u5148\u9a8c\u77e5\u8bc6\u3002\u8fd9\u53ef\u80fd\u5bfc\u81f4\u540c\u4e00\u5173\u952e\u5bf9\u8c61\u5728\u591a\u4e2a\u6a21\u6001\u4e4b\u95f4\u7684\u4e0d\u5bf9\u9f50\uff0c\u6700\u7ec8\u5bfc\u81f4\u6a21\u578b\u5b66\u4e60\u7684\u6536\u655b\u901f\u5ea6\u8f83\u6162\u4e14\u4e0d\u591f\u4f18\u5316<\/strong>\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u591a\u6a21\u6001\u878d\u5408\u65b9\u6cd5\uff0c\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u4ea4\u4e92\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u8868\u793a\uff0c\u9884\u8ba1\u53ef\u4ee5\u5b9e\u73b0\u4e0d\u540c\u6a21\u6001\u4e4b\u95f4\u66f4\u597d\u7684\u5bf9\u9f50\u3002<\/p>\n\n\n\n

    <\/strong>2.3 \u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u9884\u6d4b<\/strong><\/h3>\n\n\n\n

    \u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u6ce8\u610f\u529b\u4e3a\u9a7e\u9a76\u63d0\u4f9b\u4e86\u91cd\u8981\u7684\u89c6\u89c9\u7ebf\u7d22\uff0c\u56e0\u6b64\u6700\u8fd1\u5bf9\u4e8e\u5229\u7528\u5404\u79cd\u6df1\u5ea6\u795e\u7ecf\u6a21\u578b\u9884\u6d4b\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u7684\u5174\u8da3\u65e5\u76ca\u589e\u52a0\u3002\u5c3d\u7ba1\u5728\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u9884\u6d4b\u65b9\u9762\u53d6\u5f97\u4e86\u5982\u6b64\u591a\u7684\u7814\u7a76\u8fdb\u5c55\uff0c\u4f46\u4ecd\u7136\u6ca1\u6709\u7814\u7a76\u5c1d\u8bd5\u5c06\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u6574\u5408\u5230\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u4ee5\u4ece\u7ecf\u9a8c\u4e30\u5bcc\u7684\u4eba\u7c7b\u9a7e\u9a76\u5458\u90a3\u91cc\u83b7\u5f97\u51fa\u8272\u7684\u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u8fd9\u662f\u672c\u7814\u7a76\u8981\u89e3\u51b3\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n

    \u8be6\u89e3M2DA<\/strong><\/h2>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u56fe1\uff1a\u6211\u4eec\u63d0\u51fa\u4e86M2DA\uff0c\u4e00\u79cd\u878d\u5408\u4e86\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u7684\u591a\u6a21\u6001\u878d\u5408\u53d8\u538b\u5668\uff0c\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002M2DA\u63a5\u53d7\u591a\u89c6\u89d2\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\u3002\u9996\u5148\uff0c\u6211\u4eec\u4f7f\u7528\u4e00\u4e2aDA\u9884\u6d4b\u6a21\u578b\u6765\u6a21\u62df\u9a7e\u9a76\u5458\u89c6\u89c9\u6ce8\u89c6\u7684\u7126\u70b9\uff0c\u5c06\u5176\u89c6\u4e3a\u4e00\u4e2a\u8499\u7248\uff0c\u7528\u4e8e\u8c03\u6574\u539f\u59cb\u56fe\u50cf\u7684\u6743\u91cd\u4ee5\u589e\u5f3a\u56fe\u50cf\u6570\u636e\u3002\u7136\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u57fa\u4e8eResNet\u7684\u9aa8\u5e72\u7f51\u7edc\u6765\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\u548c\u6fc0\u5149\u96f7\u8fbe\u7684BEV\u8868\u793a\u3002\u6211\u4eec\u5229\u7528\u5168\u5c40\u5e73\u5747\u6c60\u5316\u4e0e\u4f4d\u7f6e\u7f16\u7801\u6765\u5bf9\u8fd9\u4e9b\u63d0\u53d6\u7684\u8868\u793a\u8fdb\u884c\u7f16\u7801\u3002\u7136\u540e\uff0c\u5b83\u4eec\u88ab\u89c6\u4e3a\u67e5\u8be2\u4e0e\u70b9\u4e91\u548c\u56fe\u50cf\u5206\u522b\u8ba1\u7b97\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u8f93\u51fa\u88ab\u8ba4\u4e3a\u662f\u6700\u7ec8\u878d\u5408\u7684\u7279\u5f81\uff0c\u7136\u540e\u88ab\u9988\u9001\u5230\u540e\u7eed\u7684\u53d8\u538b\u5668\u7f16\u7801\u5668\u3002\u4e09\u79cd\u7c7b\u578b\u7684\u67e5\u8be2\uff0c\u5373\u8def\u5f84\u70b9\u67e5\u8be2\u3001\u611f\u77e5\u548c\u9884\u6d4b\u67e5\u8be2\u4ee5\u53ca\u4ea4\u901a\u67e5\u8be2\uff0c\u88ab\u9988\u9001\u5230\u53d8\u538b\u5668\u89e3\u7801\u5668\u4e2d\uff0c\u4ee5\u83b7\u53d6\u7528\u4e8e\u4e0b\u6e38\u4efb\u52a1\u7684\u76f8\u5e94\u7279\u5f81\u3002\u6700\u540e\uff0cM2DA\u91c7\u7528\u81ea\u56de\u5f52\u8def\u5f84\u70b9\u9884\u6d4b\u7f51\u7edc\u6765\u9884\u6d4b\u672a\u6765\u8def\u5f84\u70b9\uff0c\u5e76\u4f7f\u7528MLP\u6765\u9884\u6d4b\u5468\u56f4\u5bf9\u8c61\u7684\u611f\u77e5\u5730\u56fe\u548c\u4ea4\u901a\u72b6\u6001\u3002<\/p>\n\n\n\n

    \u6211\u4eec\u91c7\u7528\u6a21\u4eff\u5b66\u4e60\u6765\u8bad\u7ec3\u6211\u4eec\u7684\u6a21\u578b\uff0c\u5176\u76ee\u6807\u662f\u5b66\u4e60\u4e00\u4e2a\u7b56\u7565\u03c0\u03b8\uff0c\u8be5\u7b56\u7565\u5728\u7ed9\u5b9a\u5f53\u524d\u573a\u666f\u03a0\u4e2d\u7684\u8f66\u8f86\u72b6\u6001\u65f6\u6a21\u4eff\u4e13\u5bb6\u884c\u4e3a\u3002\u8fd9\u5305\u62ec\u591a\u6a21\u6001\u4f20\u611f\u5668\u8f93\u5165I\u3001\u8f66\u8f86\u5728\u5168\u5c40\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6ep\u3001\u8f66\u901fv\u548c\u5bfc\u822a\u4fe1\u606fn\u3002M2DA\u9700\u8981\u8f93\u51fa\u672a\u6765\u7684\u8f68\u8ff9W\uff0c\u5e76\u4f7f\u7528\u63a7\u5236\u6a21\u5757\u5c06\u5176\u8f6c\u6362\u4e3a\u63a7\u5236\u4fe1\u53f7C\uff0c\u5305\u62ec\u6a2a\u5411\u63a7\u5236\u4fe1\u53f7steer \u2208 [\u22121, 1]\u548c\u7eb5\u5411\u63a7\u5236\u4fe1\u53f7brake \u2208 [0, 1]\u3001throttle \u2208 [0, 1]\u3002<\/p>\n\n\n\n

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

    3.1 \u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u9884\u6d4b<\/strong><\/h3>\n\n\n\n

    \u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u7684\u9884\u6d4b\u53ef\u4ee5\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4ee3\u7406\u63d0\u4f9b\u9a7e\u9a76\u5458\u7684\u89c6\u89c9\u6ce8\u89c6\uff0c\u4ece\u800c\u589e\u5f3a\u5176\u7406\u89e3\u4ea4\u901a\u573a\u666f\u7684\u80fd\u529b\uff0c\u5c31\u50cf\u4e00\u540d\u7ecf\u9a8c\u4e30\u5bcc\u7684\u4eba\u7c7b\u9a7e\u9a76\u5458\u4e00\u6837\u3002M2DA\u4e2d\u7684DA\u9884\u6d4b\u6a21\u578b\u91c7\u7528\u4e86\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\u3002\u5bf9\u4e8e\u7f16\u7801\u5668\uff0c\u6211\u4eec\u4f7f\u7528MobileNet-V2\u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\uff0c\u4ee5\u4fbf\u5feb\u901f\u8fdb\u884c\u9884\u6d4b\uff0c\u56e0\u4e3a\u5176\u5185\u5b58\u5360\u7528\u548cFLOPs\u8f83\u5c0f\u3002\u6211\u4eec\u4f7f\u7528\u81ea\u6ce8\u610f\u529b\u673a\u5236\u6765\u5904\u7406\u7a7a\u95f4\u7279\u5f81\u3002\u7136\u540e\uff0c\u6211\u4eec\u91c7\u7528\u53cd\u5411\u6b8b\u5dee\u5757\u6765\u6295\u5f71\u8fd9\u4e9b\u7279\u5f81\uff0c\u5e76\u5c06\u5b83\u4eec\u9988\u9001\u5230\u4e00\u4e2a\u5e26\u6709128\u4e2a\u9690\u85cf\u901a\u9053\u548c3\u00d73\u5185\u6838\u5927\u5c0f\u7684\u95e8\u63a7\u5faa\u73af\u795e\u7ecf\u7f51\u7edc\uff08GRU\uff09\u8fdb\u884c\u5e8f\u5217\u9884\u6d4b\u3002\u5bf9\u4e8e\u89e3\u7801\u5668\uff0c\u6211\u4eec\u5229\u7528\u81ea\u6ce8\u610f\u529b\u6765\u5904\u7406GRU\u63d0\u53d6\u7684\u7279\u5f81\u3002\u6211\u4eec\u4f7f\u7528\u4e09\u4e2a\u53cd\u5411\u6b8b\u5dee\u5757\u6765\u538b\u7f29\u901a\u9053\u7ef4\u5ea6\uff0c\u4ee5\u83b7\u5f97\u66f4\u597d\u7684\u7279\u5f81\u8868\u793a\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4f7f\u7528\u53e6\u4e00\u4e2a\u81ea\u6ce8\u610f\u529b\u6765\u589e\u5f3a\u901a\u9053\u4fe1\u606f\u3002\u6700\u540e\uff0c\u6211\u4eec\u91c7\u7528\u6700\u8fd1\u90bb\u63d2\u503c\u6765\u5c06\u7279\u5f81\u4e0a\u91c7\u6837\u5230\u8f93\u5165\u56fe\u50cf\u7684\u5927\u5c0f\u3002\u7531\u4e8e\u4ee3\u7406\u9a7e\u9a76\u4e2d\u5c06\u9762\u4e34\u5404\u79cd\u573a\u666f\uff0c\u5982\u679cDA\u6a21\u578b\u6ca1\u6709\u5f88\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6ce8\u89c6\u70b9\u9519\u8bef\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u56db\u4e2a\u6570\u636e\u96c6\u6765\u8bad\u7ec3\u6211\u4eec\u7684DA\u9884\u6d4b\u6a21\u578b\uff0c\u540c\u65f6\u91c7\u7528\u57df\u81ea\u9002\u5e94\u6279\u5f52\u4e00\u5316\uff08DABN\uff09\u6211\u4eec\u6a21\u578b\u4e2d\u7684DABN\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n

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

    3.2\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u878d\u5408\u6a21\u5757LVAFusion<\/strong><\/h3>\n\n\n\n

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

    \u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n

    M2DA \u662f\u57fa\u4e8e\u5f00\u6e90\u7684 CARLA \u6a21\u62df\u5668 0.9.10.1 \u7248\u672c\u5b9e\u73b0\u7684\u3002\u6211\u4eec\u5c06M2DA\u4e0eTown05 Long\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u7684\u6700\u65b0\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7531\u4e8eCARLA\u4ea4\u901a\u7ba1\u7406\u5668\u7684\u968f\u673a\u6027\u548c\u4f20\u611f\u5668\u566a\u58f0\u7684\u5b58\u5728\uff0c\u8bc4\u4f30\u7ed3\u679c\u8868\u660e\u5b58\u5728\u4e00\u5b9a\u7a0b\u5ea6\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u91cd\u590d\u4e86\u6bcf\u4e2a\u8bc4\u4f30\u5b9e\u9a8c\u4e09\u6b21\uff0c\u5e76\u62a5\u544a\u4e86\u5e73\u5747\u7ed3\u679c\u3002\u5bf9\u4e8eTown05 Long\u57fa\u51c6\u6d4b\u8bd5\uff08\u88681\uff09\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\uff0cDS\u4e3a72.6\uff0cIS\u4e3a0.80\uff0c\u8fd9\u610f\u5473\u7740M2DA\u80fd\u591f\u5f88\u597d\u5730\u5904\u7406\u590d\u6742\u573a\u666f\u5e76\u51cf\u5c11\u8fdd\u89c4\u4e8b\u4ef6\u7684\u53d1\u751f\u3002\u4e00\u4e9b\u6700\u65b0\u65b9\u6cd5\uff0c\u4f8b\u5982MILE\u548cDriveAdapter\uff0c\u83b7\u5f97\u4e86\u66f4\u9ad8\u7684RC\u503c\uff1b\u7136\u800c\uff0c\u5b83\u4eec\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u78b0\u649e\u6216\u4ea4\u901a\u8fdd\u89c4\u4e8b\u4ef6\u7684\u53d1\u751f\u7387\u3002\u5bf9\u4e8e\u4f7f\u7528\u4e0eM2DA\u76f8\u540c\u4f20\u611f\u5668\u914d\u7f6e\u7684Transfuser\u548cInterfuser\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u6240\u6709\u6307\u6807\u4e0a\u4f18\u4e8eTransfuser\u3002<\/p>\n\n\n\n

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

    \u6709\u7814\u7a76\u8bc1\u660e\u6536\u96c6\u5230\u7684\u4e13\u5bb6\u6570\u636e\u7684\u89c4\u6a21\u5bf9\u9a7e\u9a76\u6027\u80fd\u6709\u663e\u8457\u5f71\u54cd\u3002\u5c3d\u7ba1M2DA\u53ea\u662f\u5728\u4e00\u4e2a\u5305\u542b200K\u5e27\u7684\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u4f46\u5728Town05\u57fa\u51c6\u6d4b\u8bd5\u4e0a\uff0c\u5176\u8868\u73b0\u4f18\u4e8e\u4f7f\u7528\u66f4\u5927\u8bad\u7ec3\u6570\u636e\u96c6\u7684\u73b0\u6709\u6700\u5148\u8fdb\u6a21\u578b\uff0c\u4f8b\u5982Interfuser\uff083M\uff09\u3001MILE\uff082.9M\uff09\u548cThinktwice\uff082M\uff09\uff0c\u8fd9\u610f\u5473\u7740M2DA\u80fd\u591f\u5728\u6570\u636e\u91cf\u51cf\u5c11\u7684\u60c5\u51b5\u4e0b\u83b7\u5f97\u66f4\u4f18\u79c0\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

    \u6d88\u878d\u7814\u7a76<\/strong><\/h2>\n\n\n\n

    \u6211\u4eec\u73b0\u5728\u5bf9M2DA\u7684\u51e0\u4e2a\u8bbe\u8ba1\u9009\u62e9\u8fdb\u884c\u4e00\u7cfb\u5217\u6d88\u878d\u7814\u7a76\uff0c\u9488\u5bf9Town05 Long\u57fa\u51c6\u6d4b\u8bd5\u8fdb\u884c\u5206\u6790\u3002<\/p>\n\n\n\n

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

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

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