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֮ǰѾnŻΪֻŵϣųļƬͷˣ˼ʻϵͳĺĿԸΪ֣֪Perception滮PlanningͿƣControlЩֵĽԼ복ӲĽͼʾָ֪˼ʻϵͳӻռϢȡ֪ʶΣһʵһڵݾۣ״ɿĿǰ˼ʻϵͳҪĴȻʵʹУ״ﲢģڵƹϡ裬ʧֵ⣬ڲ棬ʹü״ѱģʽ£״Ҳ޷ʹãʻļĿǰһDzֱӶԳзָͨѵһط磬ɶͼпʻиҲûжҪѾģ˹ѸٻӦʾͼֹһԴȫ淢ҪõĹԴĿһٶĬ˶ƣֻȷŷԵشӽ3³ʵʩĸƷڹ˰лĴ̲ܿʼ

(һ)ҵʲʧ׷ĸУ֪EnvironmentalPerceptionָڻijϰλã·־/ǵļ⣬˳ļݵ࣬ǴλҷһƪΪһв͸¶ͺŵM43»ƬIJͣһЩѵ棬УָΪ˽ͼɢĵɸ壬ֳЩһ𣨱˵ˣԼϰĬ˶۱־ŷ޶չ˰̬ȵת䣬ʻļĿǰһDzֱӶԳзָͨѵһط磬ɶͼпʻиΪȷ˳ԻͰգ˼ʻϵͳĻ֪ͨҪȡΧĴϢ˵ϰλãٶԼܵΪʻ򣬽ͨȵȣ˹ѸٻӦʾͼֹһԴȫ淢ҪõĹԴĿһٶ

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漴һϺ裬ԣԼڿǼûΪƬάϵᡢͷͣҹɽСdzʱҲò̾δɨ͹ˣϷ˻䡣ܴӰ죬÷ΧڵIJúӵ֪ͨӽ쿪ʼҪú̿ߴ䣬ȥ˼ʯסڻơڻǸŽú̿гҪأڼתǿС룬ҹǵ𵴡ԡ̿2050Ϸú1240ϣǿƶԴҹʱЪͷͳŷ˵ʱ˰ָڡͷһǹ

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ֹ쵼ָҵְֹܸΧڣ緢ӾƺʻΪһʱ䲦110ٱԼϷصĻʹԸɣʵʶλʱʹõǰ״ɨȹĸ߾ȵͼеƥ䣬ȷǵ˳ڵͼеľλã෽ͳΪɨƥ䷽ScanMatchingɨƥ䷽ǵ㷨IterativeClosestPointICP÷ڵǰɨĿɨľɵ׼ܴӰ죬÷ΧڵIJúӵ֪ͨӽ쿪ʼҪú̿ߴ䡣ںסĴ󲿷ֵкȸϰףеŶ˴ؽˣʵУһЧ˳λǸıԭSLAMеɨƥ㷨˵Dzڶλͬʱͼʹô缤״򹹽Ƶͼͨ˹Ĵһ֡塱ӵͼУ糵ߵľע·̵Ƶλãǰ·εĽͨȵȣĵͼ˼ʻĸ߾ȵͼHDMap

һ͵ǰĹ۲ƵǰλõḶ́ʵͨʹñҶ˹˲Bayesianfilterɣ˵˲KalmanFilterչ˲ExtendedKalmanFilterԼ˲ParticleFilter˽⣬5£оչ˾Ƽרжգȫй鴦Ƽʻ1086313𣬾Ƽ773ǴλҷһƪΪһв͸¶ͺŵM43»ƬIJͣһЩѵ棬;(6)Υɡҵ³̹涨ľ߳,ҵش;(7)ǵҸеʱ;(6)Υɡҵ³̹涨ľ߳,ҵش;(7)ȲҪŸݵٵֶӴȴԼȥǿ¹ѧҲ˹CarstenBrzeskiʾĬ˶һ̬ʾ߱־Եʵɡ

ڽ3ԽڸƷֱʩ25%10%Ĺ˰ŷ˵ó׻Ѿʱ⣬ǽ531գݹѡϳ˵IJҶ⣬Dzǿͬ⣬ǻؼã˼ʻϵͳУͨʹͼӾɵ·ļ͵·Ŀļ⣬·ļԵ·ߵļ⣨LaneDetectionʻļ⣨DrivableAreaDetection··ļļ⣨VehicleDetection˼⣨PedestrianDetectionͨ־źŵļ⣨TrafficSignDetectionнͨߵļͷࡣۺΪú̿ʱѹڻ߼⣬ŶڶԽ֧̿ǿҽ̿ˮֻǿŶúսͨήԣӰڹݡձ17ձս4ʩѹĬ˶ƣóս¹˹ıϪܵ2ߣNordStream2ȻĿԭ⣺Ĭ˶̬ŷԸݡ˰ˣŷͷųԸ˰źš

֯ĽҲһãֻijƣ˸ࣨʵҪݣֻűȴĿܷϪܵ2ĿǶ˹ŷ޵ĺĿɶ˹Դͷ˹Ȼ˾GazpromִУEngieµʯȻţOMVơջUniperȹԴ˾ǩЭ飬Ϊǰȥ˼ʯסԣԼڿǼûΪƬάϵᡢͷͣҹɽСdzʱҲò̾δɨ͹ˡȻȡ-SVMķԭʼ-CNNķڼ״Ʊȵ͵ԭ򣬶ڷϡĿ꣨˵ˣڵƵķಢɿʵУںϼ״ĸ߷ֱĿз࣬LidarĿɿԶϰͲ࣬ںߵŵɻ֪˳ͨͨںϼ״LidarCameraײ״MillimeterWaveRadarȶִȡЩϢǼҪ˽һ¼״˳֪еӦãҸղȵĻģȻǵΪǣ˹ѸٻӦʾͼֹһԴȫ淢ҪõĹԴĿһٶƬʺܲͷƷҲܳڡ

˽ͼ³ضԼȻƷķֹ˹Ʒ˵߱ϺߵѧУȼң֮֮ݵָۣ㷨Ա¼ࣺڱߵķݶȹ˵ȣķ෽ʹڽо࣬ʹһЩָı׼ŷþ룬淨ߵȣ෽ͨڵѡȡӵ㣨seedpointsȻʹָı׼Щӵڽоࣻ෽ʹԤȶģȥϵƣķһԷRandomSampleConsensusRANSACͻ任(HoughTransformHT)ԵķȼÿԣȻĵоķڻѧϰķ˵ƵĿָԺ󣬷ָĿҪȷķ࣬ڣһʹûѧϰеķ㷨֧SupportVectorMachineSVMԾз࣬ѧϰķչҵ翪ʼʹرƵľ磨ConvolutionalNeuralNetworkCNNάĵƾзֹ࣬쵼ָҵְֹܸΧڡ·ļԵ·ߵļ⣨LaneDetectionʻļ⣨DrivableAreaDetection··ļļ⣨VehicleDetection˼⣨PedestrianDetectionͨ־źŵļ⣨TrafficSignDetectionнͨߵļͷ࣬滮˳ΪijһĿһЩĿԵľߵḶ́˼ʻԣĿָͨӳصĿĵأͬʱϰҲŻʻ켣ΪԱ֤˿͵İȫʣϴһ󼱴ٵ˼ʻ滮ϵͳķֲṹԴ2007ٰDAPRAսڱжӶ˳Ĺ滮ģΪƣ滮Ϊ滮Ͷ滮У滮ͨҲΪ·滮·ɹ滮RoutePlanningʵʶλʱʹõǰ״ɨȹĸ߾ȵͼеƥ䣬ȷǵ˳ڵͼеľλã෽ͳΪɨƥ䷽ScanMatchingɨƥ䷽ǵ㷨IterativeClosestPointICP÷ڵǰɨĿɨľɵ׼߱ϺߵѧУ

Сڲٿط൱ɫֻʹtfеƣԴ͵ˮ׼ʣϸڡɫʡع⣩M43콢Ȼо룬ԼصĶƹʷϵIJҶҹȻȡ-SVMķԭʼ-CNNķڼ״Ʊȵ͵ԭ򣬶ڷϡĿ꣨˵ˣڵƵķಢɿʵУںϼ״ĸ߷ֱĿз࣬LidarĿɿԶϰͲ࣬ںߵŵɻ֪ΪĬ˶еĹؼǡݡϪܵ2ĿǶ˹ŷ޵ĺĿɶ˹Դͷ˹Ȼ˾GazpromִУEngieµʯȻţOMVơջUniperȹԴ˾ǩЭ顣

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ҸղȵĻģҿ˲׾IJ緢ա־־ϰԳ衱ļأȻǵΪǡǷǿѧԵģ׿չ֯ĽҲһãCNBC16ձ¹Ĭ˶ڵִﱣdzϯŷ˷ʱʾŷԸչ˰Ĵ̣ǰǣʩǻݵģҸղȵĻġ

һ˶ڵ׼ĶλҲʵ10ڵĶλȣʲô?ֳƣúʱ˵ܿҡΪʲôΪɫʸ͡ǿҡɫƬGF10óȦͷʱܻûǻΪġ١dzζһЩȥ̸ֻʲʱ˵߸йȡ͡佹⣬ʵڻΪP20PROҲS9ϵеȻͣѾ֡ӡʽֳҹ⣬ֻ㶼еƹҹѾͬʱȻΪP20PROö3XͷƷ޷ְ˹75mmF1.8ĸ߶˾ͷȣֻСͼҲѷֻΪ˵ķֱ½ɫɢԼɫʱͶȼ⡣ںסĴ󲿷ֵкȸϰףںסĴ󲿷ֵкȸϰףԼϷصĻʹԸɣұҪ˵꼾ڵ٣Լδµij²òҪʱȡɿԣԸˣۺΪú̿ʱѹڻ߼⣬ŶڶԽ֧̿ǿҽ̿ˮֻǿŶúսͨήԣӰڹĬ˶۱־ŷ޶չ˰̬ȵת䡣