Nigute ushobora gusobanura sisitemu yo gutwara-iherezo-iherezo？
Igisobanuro gikunze kugaragara ni uko sisitemu "iherezo-iherezo" ni sisitemu yinjiza amakuru ya sensor mbisi kandi igasohoka mu buryo butaziguye impinduka zita kubikorwa. Kurugero, mukumenyekanisha amashusho, CNN irashobora kwitwa "iherezo-iherezo" ugereranije nuburyo gakondo + uburyo bwo gutondeka.
Mubikorwa byigenga byo gutwara, amakuru aturuka kuri sensor zitandukanye (nka kamera, LiDAR, Radar, cyangwa IMU ...) arinjiza, kandi ibimenyetso byo kugenzura ibinyabiziga (nka trottle cyangwa roting angle) bisohoka muburyo butaziguye. Kugirango usuzume ibibazo byo kurwanya imihindagurikire yimodoka zitandukanye, ibisohoka birashobora kandi kuruhuka inzira yimodoka.
Hashingiwe kuri uru rufatiro, ibitekerezo byanyuma-kugeza ku ndunduro nabyo byagaragaye, nka UniAD, itezimbere imikorere itangiza kugenzura imirimo ikorwa hagati, hiyongereyeho ibimenyetso byanyuma byo kugenzura ibyasohotse cyangwa inzira. Ariko, uhereye kubisobanuro bigufi, ishingiro ryanyuma-iherezo rigomba kuba ihererekanyabubasha ryamakuru yamakuru.
Reka tubanze dusubiremo intera iri hagati ya sensing na PnC module muri sisitemu zitarangira-zanyuma. Mubisanzwe, tumenya ibintu byashyizwe ku rutonde (nk'imodoka, abantu, nibindi) hanyuma tugasesengura no guhanura imiterere yabyo. Twiga kandi kubyerekeye ibidukikije bihagaze (nk'imiterere y'umuhanda, imipaka yihuta, amatara yumuhanda, nibindi). Niba twarasobanuye neza, twanamenya inzitizi zisi. Muri make, amakuru asohoka kuriyi myumvire agizwe nicyitegererezo cyerekana ibintu bigoye gutwara.
Ariko, kubintu bimwe bigaragara cyane, abstraction igaragara ntishobora gusobanura neza ibintu bigira ingaruka kumyitwarire yo gutwara ibinyabiziga, cyangwa imirimo dukeneye gusobanura ni nto cyane, kandi biragoye kubara imirimo yose isabwa. Kubwibyo, sisitemu ya nyuma-iherezo itanga (wenda bitagaragara) guhagararirwa byuzuye hamwe nicyizere cyo guhita kandi nta gihombo gikora kuri PnCs hamwe naya makuru. Njye mbona, sisitemu zose zishobora kuzuza iki cyifuzo zishobora kwitwa rusange-iherezo.
Kubijyanye nibindi bibazo, nkibintu bimwe na bimwe byoguhindura imikoranire yimikorere, ndizera ko byibuze atari iherezo-iherezo rishobora gukemura ibyo bibazo, kandi iherezo-iherezo ntirishobora kuba igisubizo cyiza. Uburyo gakondo burashobora gukemura ibyo bibazo, kandi birumvikana, mugihe umubare wamakuru ari munini bihagije, iherezo-iherezo rishobora gutanga igisubizo cyiza.
Bimwe mubitumvikana kubyerekeranye no gutwara-kwigenga gutwara
1. Kugenzura ibimenyetso ninzira bigomba gusohoka kugirango birangire-birangire.
Niba wemera igitekerezo cyagutse-kirangira cyaganiriweho hejuru, noneho iki kibazo kiroroshye kubyumva. Impera-iherezo igomba gushimangira ihererekanyabubasha ryamakuru aho gusohora ingano yumurimo. Inzira ifunganye iherezo-iherezo izatera ibibazo byinshi bitari ngombwa kandi bisaba ibisubizo byinshi byihishe kugirango umutekano ubeho.
2. Sisitemu yanyuma-iherezo igomba kuba ishingiye kubintu binini cyangwa icyerekezo cyiza.
Nta sano rikenewe riri hagati yimodoka yigenga-iherezo, gutwara ibinyabiziga binini-byigenga, hamwe no gutwara ibinyabiziga byigenga gusa kuko ari ibitekerezo byigenga rwose; sisitemu iherezo-iherezo ntabwo igomba gutwarwa nicyitegererezo kinini, ntanubwo igomba gutwarwa nicyerekezo cyiza. Bya.
3.Mu gihe kirekire, birashoboka ko sisitemu yavuzwe haruguru iherezo-iherezo muburyo bworoshye kugirango tugere ku modoka yigenga hejuru y'urwego rwa L3?
Imikorere yibyo byitwa ubu amaherezo ya nyuma ya FSD ni kure bihagije kugirango yuzuze kwizerwa no gutuza bisabwa kurwego rwa L3. Kubivuga neza, niba sisitemu yo gutwara ibinyabiziga ishaka kwemerwa nabenegihugu, icyangombwa nukumenya niba abaturage bashobora kwemera ko mubihe bimwe na bimwe, imashini izakora amakosa, kandi abantu barashobora kubikemura byoroshye. Ibi biragoye cyane kuri sisitemu yanyuma-iherezo.
Kurugero, Waymo na Cruise muri Amerika ya ruguru bagize impanuka nyinshi. Nyamara, impanuka ya Cruise iheruka gukomeretsa abantu babiri, nubwo impanuka nkizo byanze bikunze kandi zemewe kubashoferi babantu. Icyakora, nyuma yiyi mpanuka, sisitemu yasuzumye nabi aho impanuka yabereye n’aho abakomeretse ndetse ikamanurwa ku buryo bwo gukurura, bigatuma abakomeretse bakururwa igihe kirekire. Iyi myitwarire ntabwo yemerwa numushoferi usanzwe wabantu. Ntabwo bizakorwa, kandi ibisubizo bizaba bibi cyane.
Ikigeretse kuri ibyo, iyi ni umuhamagaro wo gukanguka dukwiye gusuzuma neza uburyo twakwirinda iki kibazo mugihe cyo guteza imbere no gukora sisitemu yigenga.
4.Noneho muri iki gihe, ni ubuhe buryo bufatika bwibisekuruza bizaza bya sisitemu yo gutwara ibinyabiziga ifashwa na benshi?
Nkurikije uko mbyumva ubu, iyo ukoresheje icyitwa moderi iherezo-iherezo mu gutwara, nyuma yo gusohora inzira, izagaruka igisubizo gishingiye kuburyo gakondo. Ubundi, imyigire ishingiye kubategura hamwe na gakondo ya trayectory igenamigambi algorithms isohora inzira nyinshi icyarimwe hanyuma uhitemo inzira imwe unyuze mubatoranya.
Ubu bwoko bwibisubizo byihishe hamwe nuguhitamo bigabanya imipaka yo hejuru yimikorere ya sisitemu ya casade niba iyi sisitemu yubatswe yemewe. Niba ubu buryo bukomeje gushingira kumyigishirize itunganijwe neza, gutsindwa bitateganijwe bizabaho kandi intego yo kuba umutekano ntizagerwaho na gato.
Niba dutekereza kongera guhitamo cyangwa guhitamo dukoresheje uburyo bwo gutegura igenamigambi kuri iyi nzira isohoka, ibi bihwanye na trayectory yakozwe nuburyo bwo gutwara bwiga; none, kuki tutahindura neza no gushakisha iyi nzira?
Birumvikana ko abantu bamwe bavuga ko ikibazo nkiki cyo gutezimbere cyangwa gushakisha atari convex, gifite umwanya munini wa leta, kandi ntibishoboka kwiruka mugihe nyacyo kuri sisitemu yimodoka. Ndasaba abantu bose gusuzuma neza iki kibazo: Mu myaka icumi ishize, sisitemu yo kwiyumvisha yakiriye byibuze inshuro ijana inyungu zo kubara, ariko bite kuri module yacu ya PnC?
Niba kandi twemeye module ya PnC gukoresha imbaraga nini zo kubara, zifatanije niterambere ryambere mugutezimbere algorithms mumyaka yashize, uyu mwanzuro uracyari ukuri? Kuri ubu bwoko bwikibazo, dukwiye gusuzuma igikwiye uhereye kumahame ya mbere.
5.Ni gute wahuza isano iri hagati yamakuru akoreshwa nuburyo gakondo?
Gukina chess ni urugero rusa cyane no gutwara ibinyabiziga byigenga. Muri Gashyantare uyu mwaka, Deepmind yasohoye inyandiko yiswe "Grandmaster-Urwego Chess Utarinze gushakisha", ivuga niba bishoboka gukoresha gusa amakuru akoreshwa no kureka gushakisha MCTS muri AlphaGo na AlphaZero. Bisa no gutwara ibinyabiziga byigenga, umuyoboro umwe gusa ukoreshwa mugusohora ibikorwa, mugihe intambwe zose zikurikira zirengagijwe.
Ingingo isoza ivuga ko, nubwo umubare munini wamakuru hamwe nibipimo by'icyitegererezo, ibisubizo bifatika birashobora kuboneka udakoresheje ubushakashatsi. Ariko, hari itandukaniro rikomeye ugereranije nuburyo ukoresheje gushakisha. Ibi ni ingirakamaro cyane mugukemura ibibazo bimwe bigoye.
Kubintu bigoye cyangwa imanza zinguni zisaba imikino yintambwe nyinshi, iki kigereranyo kiracyagora kureka burundu gutezimbere gakondo cyangwa gushakisha algorithms. Koresha neza gukoresha ibyiza byikoranabuhanga bitandukanye nka AlphaZero ninzira nziza yo kunoza imikorere.
6.Uburyo bwa gakondo = amategeko-ashingiye niba nibindi?
Nabwirijwe gukosora iki gitekerezo inshuro nyinshi mugihe mvugana nabantu benshi. Abantu benshi bizera ko mugihe cyose bidatewe gusa namakuru, ntabwo bishingiye kumategeko. Kurugero, muri chess, gufata mu mutwe formula na chess byanditswe na rote bishingiye ku mategeko, ariko nka AlphaGo na AlphaZero, biha icyitegererezo ubushobozi bwo gushyira mu gaciro binyuze muburyo bwiza no gushakisha. Ntabwo ntekereza ko bishobora kwitwa amategeko-ashingiye.
Kubera iyo mpamvu, moderi nini ubwayo irabuze, kandi abashakashatsi baragerageza gutanga icyitegererezo cyiga binyuze muburyo nka CoT. Ariko, bitandukanye nimirimo isaba amakuru yuzuye-yerekana ishusho yamenyekanye hamwe nimpamvu zidasobanutse, buri gikorwa cyumuntu utwara gifite imbaraga zisobanutse.
Muburyo bukwiye bwa algorithm yububiko, inzira yicyemezo igomba guhinduka kandi igahinduka kimwe iyobowe nintego zubumenyi, aho gutobora ku gahato no guhindura ibipimo kugirango bikemure ibibazo bitandukanye. Sisitemu nkiyi mubisanzwe ntabwo ifite ubwoko bwubwoko bukomeye bwanditse amategeko adasanzwe.
Umwanzuro
Muri make, iherezo-iherezo rishobora kuba inzira ya tekiniki itanga icyizere, ariko uburyo igitekerezo gikoreshwa bisaba ubushakashatsi bwinshi. Ndibwira ko amakuru menshi hamwe nibipimo by'icyitegererezo atariwo muti wonyine wukuri, kandi niba dushaka kurenza abandi, tugomba gukomeza gukora cyane.
Igihe cyo kohereza: Apr-24-2024