Kodi mungatanthauzire bwanji njira yoyendetsera yodziyimira yokha yomaliza?
Tanthauzo lodziwika bwino ndikuti "mapeto-kumapeto" ndi dongosolo lomwe limalowetsa chidziwitso cha sensa yaiwisi ndikutulutsa mwachindunji zosintha zomwe zimakhudzidwa ndi ntchitoyi. Mwachitsanzo, pakuzindikiritsa zithunzi, CNN imatha kutchedwa "mapeto mpaka kumapeto" poyerekeza ndi njira yachikhalidwe + yowerengera.
M'ntchito zoyendetsa galimoto, deta yochokera ku masensa osiyanasiyana (monga makamera, LiDAR, Radar, kapena IMU ...) imalowetsedwa, ndipo zizindikiro zoyendetsera galimoto (monga throttle kapena wheel wheel angle) zimatuluka mwachindunji. Kuti muganizire zakusintha kwamitundu yosiyanasiyana yamagalimoto, zotulutsa zitha kusinthidwanso kumayendedwe agalimoto.
Kutengera maziko awa, malingaliro omaliza mpaka-mapeto atulukanso, monga UniAD, omwe amawongolera magwiridwe antchito poyambitsa kuyang'anira ntchito zoyenera zapakatikati, kuphatikiza pazizindikiro zomaliza zowongolera kapena njira. Komabe, kuchokera ku tanthauzo lopapatiza chotere, tanthauzo la kumapeto mpaka kumapeto liyenera kukhala kufalitsa kopanda kutaya kwa chidziwitso chamalingaliro.
Tiyeni tiwunikire kaye momwe zimalumikizirana pakati pa ma module a sensing ndi PnC m'makina osatha-kumapeto. Nthawi zambiri, timazindikira zinthu zoyera (monga magalimoto, anthu, ndi zina) ndikusanthula ndikulosera zomwe zili. Timaphunziranso za malo osasunthika (monga misewu, malire othamanga, magetsi apamsewu, ndi zina zotero). Tikadakhala mwatsatanetsatane, tikadazindikiranso zopinga zapadziko lonse lapansi. Mwachidule, zomwe zimatulutsidwa ndi malingalirowa zimapanga chitsanzo cha zochitika zovuta zoyendetsa galimoto.
Komabe, paziwonetsero zina zowonekeratu, zofotokozera zaposachedwa sizingathe kufotokozera momveka bwino zomwe zimakhudza kuyendetsa galimoto pamalopo, kapena ntchito zomwe tiyenera kufotokozera ndizochepa kwambiri, ndipo ndizovuta kuwerengera ntchito zonse zofunika. Chifukwa chake, machitidwe omaliza mpaka-mapeto amapereka (mwinamwake momveka bwino) chifaniziro chokwanira ndi chiyembekezo chochita zokha komanso mopanda kutayika pa PnCs ndi chidziwitso ichi. M'malingaliro anga, machitidwe onse omwe angakwaniritse zofunikirazi amatha kutchedwa kuti kumapeto kwa mapeto.
Ponena za nkhani zina, monga kukhathamiritsa kwa zochitika zogwirizanitsa, ndikukhulupirira kuti osati mapeto okha omwe angathe kuthetsa mavutowa, ndipo kutha-kumapeto sikungakhale njira yabwino yothetsera vutoli. Njira zachikhalidwe zimatha kuthetsa mavutowa, ndipo ndithudi, pamene kuchuluka kwa deta kuli kokwanira, mapeto a mapeto angapereke yankho labwino.
Kusamvetsetsana kwina kokhudza kuyendetsa galimoto kodziyimira payokha
1. Zizindikiro zowongolera ndi ma waypoints ziyenera kutulutsidwa kuti zikhale kumapeto mpaka kumapeto.
Ngati mukugwirizana ndi mfundo yotakata yopita kumapeto yomwe takambirana pamwambapa, ndiye kuti vutoli ndilosavuta kulimvetsa. Kumapeto mpaka kumapeto kuyenera kugogomezera kusataya kwa chidziwitso m'malo motulutsa mwachindunji kuchuluka kwa ntchitoyo. Njira yopapatiza yopita kumapeto idzabweretsa mavuto ambiri osafunikira ndipo imafuna njira zambiri zobisika kuti zitsimikizire chitetezo.
2.Dongosolo lakumapeto liyenera kukhazikitsidwa pazitsanzo zazikulu kapena masomphenya oyera.
Palibe kugwirizana kofunikira pakati pa kuyendetsa modziyimira pawokha kumapeto mpaka-kumapeto, kuyendetsa modziyimira pawokha kwamitundu ikuluikulu, ndikuyendetsa mosayang'ana pawokha chifukwa ndi malingaliro odziyimira pawokha; dongosolo lomalizira silimayendetsedwa kwenikweni ndi zitsanzo zazikulu, komanso sizimayendetsedwa ndi masomphenya oyera. za.
3.M'kupita kwanthawi, kodi ndizotheka kuti dongosolo lakumapeto-kumapeto lomwe tatchulali liri lopapatiza kuti likwaniritse kuyendetsa pawokha pamwamba pa mlingo wa L3?
Kuchita kwa zomwe panopa zimatchedwa FSD yoyera kumapeto kwa mapeto sikuli kokwanira kukwaniritsa kudalirika ndi kukhazikika kofunikira pa mlingo wa L3. Kunena mosapita m’mbali, ngati njira yodziyendetsa yokha ikufuna kuvomerezedwa ndi anthu, chinsinsi ndi chakuti anthu angavomereze kuti nthaŵi zina makinawo amalakwitsa, ndipo anthu angathe kuwathetsa mosavuta. Izi ndizovuta kwambiri kwa dongosolo loyera lomaliza.
Mwachitsanzo, Waymo ndi Cruise ku North America achita ngozi zambiri. Komabe, ngozi yomaliza ya Cruise idavulaza anthu awiri, ngakhale ngozi zotere ndizosapeŵeka komanso zovomerezeka kwa oyendetsa anthu. Komabe, ngoziyi itatha, dongosololi silinaganizire molakwika malo omwe ngoziyo idachitikira komanso pomwe ovulalawo adatsikira ndikutsitsa, zomwe zidapangitsa kuti ovulalawo amakokedwe kwa nthawi yayitali. Khalidweli ndi losavomerezeka kwa dalaivala wamunthu aliyense. Sizidzachitika, ndipo zotsatira zake zidzakhala zoipa kwambiri.
Kuphatikiza apo, uku ndi kudzutsa kodzutsa komwe tiyenera kuganizira mozama momwe tingapewere izi panthawi yopanga ndikugwiritsa ntchito makina oyendetsa okha.
4.Choncho pakali pano, ndi njira zotani zothandizira m'badwo wotsatira wamakina oyendetsa opangidwa mothandizidwa ndi anthu ambiri?
Malinga ndi kumvetsetsa kwanga kwamakono, pogwiritsira ntchito zomwe zimatchedwa mapeto a mapeto poyendetsa galimoto, pambuyo potulutsa njirayo, idzabwezera njira yothetsera njira zachikhalidwe. Kapenanso, olinganiza otengera kuphunzira ndi njira zachikhalidwe zopangira ma aligorivimu amatulutsa ma trajectory angapo nthawi imodzi ndikusankha njira imodzi kudzera pa chosankha.
Njira yobisalira iyi ndi kusankha kumachepetsa malire apamwamba a machitidwe a cascade system ngati kamangidwe kameneka kakhazikitsidwa. Ngati njira iyi ikadali yozikidwa pa kuphunzira koyera kwa mayankho, zolephera zosayembekezereka zidzachitika ndipo cholinga chokhala otetezeka sichidzakwaniritsidwa konse.
Ngati tilingalira kukonzanso kapena kusankha kugwiritsa ntchito njira zokonzekera zachikhalidwe panjira yotuluka, izi ndizofanana ndi njira yopangidwa ndi njira yoyendetsedwa ndi maphunziro; Chifukwa chake, bwanji osakonza mwachindunji ndikusaka njira iyi?
Zoonadi, anthu ena anganene kuti kukhathamiritsa koteroko kapena vuto losaka silili lozungulira, lili ndi malo akuluakulu a boma, ndipo sizingatheke kuthamanga mu nthawi yeniyeni pamakina a galimoto. Ndikupempha aliyense kuti alingalire mozama funso ili: M'zaka khumi zapitazi, njira yowonera malingaliro yalandira kuchulukitsa kakhumi kuposa gawo lamagetsi apakompyuta, koma bwanji gawo lathu la PnC?
Ngati tilolanso gawo la PnC kuti ligwiritse ntchito mphamvu zazikulu zamakompyuta, kuphatikizidwa ndi kupita patsogolo kwa ma aligorivimu otsogola m'zaka zaposachedwa, kodi mawu awa akadali olondola? Kwa vuto lamtunduwu, tiyenera kuganizira zomwe zili zolondola kuchokera ku mfundo zoyambirira.
5.Kodi mungayanjanitse bwanji ubale pakati pa njira zoyendetsedwa ndi data ndi zachikhalidwe?
Kusewera chess ndi chitsanzo chofanana kwambiri ndi kuyendetsa galimoto. Mu February chaka chino, Deepmind adafalitsa nkhani yotchedwa "Grandmaster-Level Chess Without Search", kukambirana ngati n'zotheka kugwiritsa ntchito deta ndikusiya kufufuza kwa MCTS mu AlphaGo ndi AlphaZero. Mofanana ndi kuyendetsa pawokha, maukonde amodzi okha ndi omwe amagwiritsidwa ntchito kutulutsa zochita mwachindunji, pomwe njira zonse zotsatiridwa zimanyalanyazidwa.
Nkhaniyi ikumaliza kuti, ngakhale kuchuluka kwa deta ndi magawo amitundu, zotsatira zomveka zitha kupezeka popanda kugwiritsa ntchito kusaka. Komabe, pali kusiyana kwakukulu poyerekeza ndi njira zogwiritsira ntchito kufufuza. Izi ndizothandiza makamaka pothana ndi zovuta zina zomaliza.
Pazochitika zovuta kapena zapangodya zomwe zimafuna masewera a masitepe angapo, fanizoli limapangitsabe kukhala kovuta kusiya kukhathamiritsa kwachikhalidwe kapena kusaka ma aligorivimu. Kugwiritsa ntchito mwanzeru zabwino zamaukadaulo osiyanasiyana monga AlphaZero ndiye njira yabwino kwambiri yopititsira patsogolo magwiridwe antchito.
6.Traditional njira = malamulo okhazikika ngati ayi?
Ndinafunika kukonza mfundo imeneyi mobwerezabwereza polankhula ndi anthu ambiri. Anthu ambiri amakhulupirira kuti malinga ngati sizikuyendetsedwa ndi deta, sizokhazikitsidwa ndi malamulo. Mwachitsanzo, mu chess, kuloweza ma fomula ndi zolemba za chess mwa rote zimakhazikitsidwa ndi malamulo, koma monga AlphaGo ndi AlphaZero, zimapatsa chitsanzocho kuthekera kokhala koyenera mwa kukhathamiritsa ndi kusaka. Ine sindikuganiza kuti angatchedwe motsatira malamulo.
Chifukwa cha ichi, chitsanzo chachikulu chokha chikusowa panopa, ndipo ochita kafukufuku akuyesera kupereka chitsanzo chophunzirira pogwiritsa ntchito njira monga CoT. Komabe, mosiyana ndi ntchito zomwe zimafuna kuzindikira koyera kwa zithunzi zoyendetsedwa ndi deta ndi zifukwa zosadziwika bwino, zochita zilizonse za munthu woyendetsa zimakhala ndi mphamvu yoyendetsera galimoto.
Pansi pa kamangidwe koyenera ka kamangidwe ka ma algorithm, njira yachigamulo iyenera kukhala yosinthika ndi kukonzedwa mofanana motsogozedwa ndi zolinga zasayansi, m'malo mokakamiza ndikusintha magawo kuti akonze milandu yosiyanasiyana. Dongosolo loterolo mwachibadwa liribe mitundu yonse ya malamulo achilendo okhwima.
Mapeto
Mwachidule, kutha-kumapeto kungakhale njira yodalirika yaukadaulo, koma momwe lingaliroli limagwiritsidwira ntchito limafuna kafukufuku wambiri. Ndikuganiza kuti mulu wa deta ndi magawo a chitsanzo si njira yokhayo yolondola, ndipo ngati tikufuna kupitirira ena, tiyenera kupitiriza kugwira ntchito mwakhama.
Nthawi yotumiza: Apr-24-2024