百度智驾方案解析

Core Insights - The article discusses the integration of perception and decision-making models in autonomous driving, emphasizing the importance of joint training to enhance the system's performance and interpretability [5][8]. Group 1: Joint Training Approach - The joint training of perception and decision-making networks ensures that data flows from raw sensor inputs to throttle and steering outputs in a coherent manner, maintaining high information fidelity and accuracy [5]. - The necessity of separate training for perception and planning models is highlighted to ensure that the outputs align with human judgment standards, allowing for better oversight and traceability of the model's decisions [5][8]. Group 2: Data Representation - The article explains the distinction between explicit and implicit perception results, where explicit results are human-readable and are encoded into the decision-making network, while implicit results may not be directly interpretable by humans [8]. - The use of a Transformer model is mentioned, which can uncover relationships within large datasets and maintain the fidelity of learned mappings during training [8]. Group 3: System Solutions - The article touches on the importance of a comprehensive solution that includes a perception system and a computing platform, which are essential for the effective deployment of autonomous driving technologies [11]. - A full-dimensional redundancy scheme is also discussed, indicating a focus on reliability and safety in autonomous driving systems [13].