基于高清地图的感知不确定性的在线定量分析
Mingliang Yang1, Xinyu Jiao1, Kun Jiang1
1School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China.
Sensors (Basel, Switzerland)
|December 23, 2023
概括
这项研究引入了一种新的方法,用于使用高清地图评估自动驾驶中的感知不确定性. 该方法有效地评估静态和动态元素的不确定性,以提高驾驶安全.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 自动驾驶在安全决策方面严重依赖环境感知.
- 实时评估感知不确定性是自动驾驶系统安全和工业采用的关键挑战.
- 高清地图提供了关于静态道路元素及其关系的宝贵预先信息,有助于评估不确定性.
研究的目的:
- 开发和介绍一种在自动驾驶中对静态和动态元素的感知不确定性的在线评估方法.
- 利用高清地图来提高感知不确定性评估的准确性和可靠性.
- 确定影响知觉不确定性的实时因素,以优化评估模型.
主要方法:
- 评估静态元素的感知不确定性,使用来自高清地图的空间和拓特征,考虑存在和空间信息.
- 开发了一个在线模型来评估动态元素的感知不确定性,从静态元素的不确定性推断出来.
- 构建了一个模型来识别驾驶场景和天气条件,以确定实时不确定性触发器.
主要成果:
- 拟议的方法通过评估静态和动态元素的不确定性,有效地评估实时感知结果.
- 对nuScenes数据集的验证证明了基于高清地图的不确定性评估的有效性.
- 该系统成功识别了影响感知不确定性的驾驶场景和天气条件.
结论:
- 开发的方法为自动驾驶中的在线感知不确定性评估提供了一个强大的方法.
- 使用高清地图显著提高了对静态元素不确定性的评估,这反过来又改善了对动态元素不确定性的评估.
- 影响因素的实时识别允许对感知不确定性模型进行自适应优化,从而为更安全的自主操作做出贡献.
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