{"id":22526,"date":"2024-10-09T11:25:38","date_gmt":"2024-10-09T03:25:38","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=22526"},"modified":"2024-10-09T11:25:38","modified_gmt":"2024-10-09T03:25:38","slug":"%e5%8d%8f%e5%90%8c%e9%a9%be%e9%a9%b6%e8%b6%85%e8%bf%9b%e5%8c%96%ef%bc%81codrivingllm%ef%bc%9a%e5%a4%a7%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e5%a6%82%e4%bd%95%e9%a9%b1%e5%8a%a8%e5%86%b3%e7%ad%96","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/10\/09\/22526\/","title":{"rendered":"\u534f\u540c\u9a7e\u9a76\u8d85\u8fdb\u5316\uff01CoDrivingLLM\uff1a\u5927\u8bed\u8a00\u6a21\u578b\u5982\u4f55\u9a71\u52a8\u51b3\u7b56\u6846\u67b6\uff1f"},"content":{"rendered":"<div><img data-dominant-color=\"a9b8c6\" data-has-transparency=\"false\" style=\"--dominant-color: #a9b8c6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22528\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/a3c8507008caa82171f274268c6676d00a815b-300x167-1.jpg\" width=\"300\" height=\"167\" alt=\"\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/a3c8507008caa82171f274268c6676d00a815b-300x167-1.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/a3c8507008caa82171f274268c6676d00a815b-300x167-1-150x84.jpg 150w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/div>\n<div><\/div>\n<div class=\"article-desc\">\u4eca\u5929\u5206\u4eab\u540c\u6d4e\u5927\u5b66\u5728\u534f\u540c\u9a7e\u9a76\u4e0a\u7684\u5de5\u4f5c\u2014CoDrivingLLM\uff01\u5927\u8bed\u8a00\u6a21\u578b\u9a71\u52a8\u7684\u51b3\u7b56\u6846\u67b6\u4ea4\u4e92\u5f0f\u3001\u53ef\u5b66\u4e60\u7684\u534f\u540c\u9a7e\u9a76\u3002<\/div>\n<div id=\"postspictures\" class=\"article-content\">\n<div id=\"container\" class=\"container am-engine\" data-v-1d7a5742=\"\" data-element=\"root\">\n<p>\u672c\u6587\u7ecf\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n<h3>\u5199\u5728\u524d\u9762 &amp;&amp; \u7b14\u8005\u7406\u89e3<\/h3>\n<p>\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u4e0d\u65ad\u8fdb\u6b65\uff0c\u6211\u4eec\u53ef\u80fd\u6b63\u5728\u8fdb\u5165\u4e00\u4e2a\u8fde\u63a5\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff08Connected Autonomous Vehicles, \u7b80\u79f0CAVs\uff09\u548c\u4eba\u5de5\u9a7e\u9a76\u8f66\u8f86\uff08Human-Driven Vehicles, 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data-id=\"u738a58b-RET92YA5\">\n<li data-id=\"ld70c578-L5NilLUm\"><strong>\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5<\/strong>\u65e8\u5728\u6700\u5927\u5316\u6216\u6700\u5c0f\u5316\u76ee\u6807\u51fd\u6570\u4ee5\u5b9e\u73b0\u7279\u5b9a\u76ee\u6807\u3002\u4f46\u662f\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\u5f80\u5f80\u672a\u80fd\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u660e\u786e\u8003\u8651\u6cd5\u89c4\u548c\u793e\u4f1a\u89c4\u8303\uff0c\u4f7f\u5f97\u4ed6\u4eec\u7684\u51b3\u7b56\u7ed3\u679c\u96be\u4ee5\u7406\u89e3\u3002<\/li>\n<li data-id=\"ld70c578-bK9J48aj\"><strong>\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5<\/strong>\u5728\u5f62\u5f0f\u4e0a\u7b80\u5355\uff0c\u56e0\u6b64\u8ba1\u7b97\u6548\u7387\u9ad8\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u53ef\u4ee5\u5c06\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u4e0e\u4ea4\u901a\u6cd5\u89c4\u7ed3\u5408\u8d77\u6765\uff0c\u4f46\u9884\u8bbe\u7684\u89c4\u5219\u901a\u5e38\u4f1a\u5bfc\u81f4\u9c81\u68d2\u6027\u5dee\u3002<\/li>\n<li data-id=\"ld70c578-SoFXn895\"><strong>\u57fa\u4e8e\u5b66\u4e60\u65b9\u6cd5<\/strong>\uff0c\u5982\u6df1\u5ea6\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5df2\u6210\u529f\u5e94\u7528\u4e8e\u4ea4\u53c9\u53e3\u3001\u5408\u5e76\u533a\u57df\u548c\u9ad8\u901f\u516c\u8def\u7b49\u73af\u5883\u4e2d\u7684\u534f\u540c\u9a7e\u9a76\uff0c\u8868\u73b0\u51fa\u826f\u597d\u7684\u6027\u80fd\u3002\u4f46\u57fa\u4e8e\u5b66\u4e60\u6a21\u578b\u7684\u6027\u80fd\u5728\u8f6c\u79fb\u5230\u672a\u7ecf\u8bad\u7ec3\u7684\u73af\u5883\u4e2d\u65f6\u5f80\u5f80\u4f1a\u663e\u8457\u4e0b\u964d\u3002<\/li>\n<\/ul>\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u8fd1\u5e74\u6765Transformer\u6a21\u578b\u548c\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u5feb\u901f\u53d1\u5c55\u4e3a\u5b9e\u73b0\u534f\u540c\u51b3\u7b56\u63d0\u4f9b\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002\u8fd9\u4e9b\u6a21\u578b\u5df2\u7ecf\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u667a\u80fd\u4f53\u51b3\u7b56\u5236\u5b9a\u7b49\u9886\u57df\u5c55\u793a\u4e86\u5de8\u5927\u7684\u6f5c\u529b\u3002\u5728\u8fd9\u79cd\u80cc\u666f\u4e0b\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u4ea4\u4e92\u5f0f\u548c\u53ef\u5b66\u4e60\u7684LLM\u9a71\u52a8\u7684\u534f\u540c\u9a7e\u9a76\u6846\u67b6\uff0c\u7528\u4e8e\u5168\u573a\u666f\u548c\u5168Cooperative Driving Automation(\u7b80\u79f0CDA)\u3002<\/p>\n<ul data-id=\"u738a58b-NZ75HiC2\">\n<li data-id=\"ld70c578-nHKbCH6f\">\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2409.12812<\/li>\n<li data-id=\"ld70c578-TfGFK3iJ\">\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/FanGShiYuu\/CoDrivingLLM<\/li>\n<\/ul>\n<h3>\u95ee\u9898\u8868\u8ff0<\/h3>\n<p>\u76ee\u524d\uff0cCAVs\u5728\u5f00\u653e\u9053\u8def\u4e0a\u7684\u8868\u73b0\u4ecd\u7136\u4e0d\u662f\u5f88\u7406\u60f3\u3002\u5728\u67d0\u4e9b\u573a\u666f\u4e0b\uff0cCAV\u7684\u4e8b\u6545\u7387\u751a\u81f3\u662f\u4eba\u7c7b\u9a7e\u9a76\u5458\u76845.25\u500d\uff0c\u8fd9\u663e\u7136\u4e0d\u80fd\u6ee1\u8db3\u4eba\u4eec\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u671f\u671b\u3002\u800cCAVs\u7684\u901a\u4fe1\u80fd\u529b\u4f7f\u5176\u80fd\u591f\u5b9e\u73b0\u4e92\u8054\u4e92\u901a\u548c\u76f8\u4e92\u534f\u52a9\u3002\u56e0\u6b64\uff0c\u5229\u7528\u534f\u540c\u9a7e\u9a76\u80fd\u529b\u662f\u63d0\u9ad8CAVs\u6027\u80fd\u662f\u4f5c\u8005\u8ba4\u4e3a\u975e\u5e38\u6709\u524d\u9014\u7684\u65b9\u5f0f\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>\u89c2\u6d4b\u7a7a\u95f4 (Observation Space)<\/h4>\n<p>&nbsp;<\/p>\n<h4>\u52a8\u4f5c\u7a7a\u95f4 (Action Space)<\/h4>\n<p>&nbsp;<\/p>\n<h3>\u6a21\u578b\u7ed3\u6784<\/h3>\n<p>CoDrivingLLM\u4e3b\u8981\u5305\u62ec\u4e09\u4e2a\u6a21\u5757\uff1a\u73af\u5883\u6a21\u5757\u3001\u63a8\u7406\u6a21\u5757\u548c\u8bb0\u5fc6\u6a21\u5757\u3002<\/p>\n<h4>A. \u603b\u4f53\u67b6\u6784<\/h4>\n<p>\u56fe2\u5c55\u793a\u4e86CoDrivingLLM\u4e2d\u7684\u4e3b\u8981\u6a21\u5757\u53ca\u5176\u903b\u8f91\u5173\u7cfb\uff0c\u5305\u62ec\u4e09\u4e2a\u4e3b\u8981\u6a21\u5757\uff1a\u73af\u5883\u6a21\u5757\u3001\u63a8\u7406\u6a21\u5757\u548c\u8bb0\u5fc6\u6a21\u5757\u3002<strong>\u73af\u5883\u6a21\u5757<\/strong>\u6839\u636e\u4e0a\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684CAV\u548cHDV\u7684\u52a8\u4f5c\u66f4\u65b0\u5f53\u524d\u573a\u666f\u4fe1\u606f\uff0c\u5305\u62ec\u6240\u6709\u8f66\u8f86\u7684\u72b6\u6001\uff0c\u5982\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\u3002\u63a5\u4e0b\u6765\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u96c6\u4e2d-\u5206\u5e03\u5f0f\u7ed3\u5408\u7684LLM<strong>\u63a8\u7406\u6a21\u5757<\/strong>\u3002\u57fa\u4e8eSAE J3216\u6807\u51c6\u5b9a\u4e49\u7684CDA\u7684\u56db\u4e2a\u7ea7\u522b\uff0c\u4f5c\u8005\u5c06\u8fd9\u4e2a\u63a8\u7406\u6a21\u5757\u6574\u5408\u4e86\u56db\u4e2a\u5b50\u529f\u80fd\uff1a\u72b6\u6001\u5171\u4eab\u3001\u610f\u56fe\u5171\u4eab\u3001\u534f\u5546\u548c\u51b3\u7b56\u3002\u901a\u8fc7\u7ed3\u5408\u601d\u7ef4\u94fe\uff08Chain-of-Thought, COT\uff09\u65b9\u6cd5\uff0c\u4f5c\u8005\u5c06\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u6bcf\u4e2a\u5b50\u529f\u80fd\u987a\u5e8f\u8fde\u63a5\u8d77\u6765\uff0c\u4ee5\u589e\u5f3a\u51b3\u7b56\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u6bcf\u4e2aCAV\u4f7f\u7528LLMs\u8fdb\u884c\u5206\u5e03\u5f0f\u7684\u9ad8\u7ea7\u903b\u8f91\u63a8\u7406\uff0c\u5b8c\u6210\u4e0d\u540c\u7ea7\u522b\u7684\u534f\u540c\u9a7e\u9a76\uff0c\u5e76\u5229\u7528\u6846\u67b6\u5185\u7684\u51b2\u7a81\u534f\u8c03\u5668\u8fdb\u884c\u96c6\u4e2d\u51b2\u7a81\u89e3\u51b3\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5b89\u5168\u6027\u3002\u6700\u540e\uff0c\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u573a\u666f\u63cf\u8ff0\u3001\u51b2\u7a81\u63cf\u8ff0\u548c\u6700\u7ec8\u51b3\u7b56\u4ee5\u5411\u91cf\u5316\u5f62\u5f0f\u5b58\u50a8\u5728<strong>\u8bb0\u5fc6\u6570\u636e\u5e93<\/strong>\u4e2d\u3002\u5728\u968f\u540e\u7684\u63a8\u7406\u4e2d\uff0cCAV\u53ef\u4ee5\u53c2\u8003\u6700\u76f8\u4f3c\u7684\u8fc7\u53bb\u8bb0\u5fc6\u4f5c\u4e3a\u7ecf\u9a8c\uff0c\u4f7f\u8bbe\u8ba1\u7684CAV\u80fd\u591f\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u4e0d\u65ad\u5b66\u4e60\u548c\u63d0\u9ad8\u5176\u80fd\u529b\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>B. \u73af\u5883\u6a21\u5757<\/h4>\n<p>\u73af\u5883\u6a21\u5757\u5305\u62ec\u4e24\u4e2a\u5b50\u6a21\u5757\uff1a<\/p>\n<ul data-id=\"u738a58b-j6AlFdH0\">\n<li data-id=\"ld70c578-oiHE1hrW\">\u73af\u5883\u52a8\u6001\u6a21\u62df\u5b50\u6a21\u5757\uff0c\u5b83\u6a21\u62df\u771f\u5b9e\u4e16\u754c\u7684\u73af\u5883\u52a8\u6001\uff0c\u4e3a\u534f\u540c\u9a7e\u9a76\u6846\u67b6\u63d0\u4f9b\u73b0\u5b9e\u7684\u80cc\u666f\u4ea4\u901a\u6d41\u548c\u8bad\u7ec3\u53cd\u9988\uff1b<\/li>\n<li data-id=\"ld70c578-TcedArmr\">\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\u6267\u884c\u5b50\u6a21\u5757\uff0c\u4e3aLLM\u63d0\u4f9b\u57fa\u4e8e\u6a21\u578b\u7684\u8f66\u8f86\u63a7\u5236\u5355\u5143\uff0c\u63d0\u9ad8\u52a8\u4f5c\u6267\u884c\u7684\u51c6\u786e\u6027\u548c\u6210\u529f\u7387\u3002<\/li>\n<\/ul>\n<p><strong>\u73af\u5883\u52a8\u6001\u6a21\u62df\u5b50\u6a21\u5757<\/strong>\uff1a\u771f\u5b9e\u4e16\u754c\u7684\u53cd\u9988\u5bf9\u4e8e\u8bad\u7ec3\u4e00\u4e2a\u7a33\u5b9a\u548c\u53ef\u9760\u7684\u534f\u540c\u51b3\u7b56\u6a21\u578b\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u4e86\u786e\u4fdd\u6a21\u62df\u7684\u771f\u5b9e\u6027\u548c\u53ef\u9760\u6027\uff0c\u4f5c\u8005\u5728\u73af\u5883\u52a8\u6001\u6a21\u5757\u4e2d\u8003\u8651\u4e86\u4e00\u4e2a\u6df7\u5408\u4eba\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\uff0c\u5f15\u5165\u4e0d\u53d7\u63a7\u5236\u7684\u4eba\u5de5\u9a7e\u9a76\u8f66\u8f86\uff0c\u4e3a\u534f\u540c\u9a7e\u9a76\u6846\u67b6\u521b\u9020\u66f4\u52a0\u73b0\u5b9e\u7684\u80cc\u666f\u4ea4\u901a\u6d41\u3002\u8fd9\u4e9b\u4e0d\u53d7\u63a7\u5236\u7684\u8f66\u8f86\u4e0d\u53c2\u4e0e\u534f\u540c\u9a7e\u9a76\u4efb\u52a1\uff0c\u610f\u5473\u7740\u5b83\u4eec\u4e0d\u5171\u4eab\u5b83\u4eec\u7684\u610f\u56fe\uff0c\u5e76\u4ec5\u57fa\u4e8e\u5b83\u4eec\u81ea\u5df1\u7684\u51b3\u7b56\u903b\u8f91\u8fd0\u884c\u3002\u9274\u4e8eIDM\uff08Intelligent Driver Model\uff09\u548cMOBIL\uff08Minimizing Overall Braking Induced by Lane changes\uff09\u7684\u7ed3\u5408\u88ab\u5e7f\u6cdb\u7528\u4e8e\u8868\u5f81\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u4e14\u5728\u4ea4\u53c9\u53e3\u3001\u73af\u5f62\u4ea4\u53c9\u53e3\u548c\u5408\u5e76\u533a\u57df\u7b49\u5404\u79cd\u573a\u666f\u4e2d\u90fd\u663e\u793a\u51fa\u826f\u597d\u7684\u7ed3\u679c\uff0c\u4f5c\u8005\u5206\u522b\u5229\u7528IDM\u548cMOBIL\u6765\u4ee3\u8868HDV\u7684\u7eb5\u5411\u548c\u6a2a\u5411\u884c\u4e3a\u3002HDV\u7684\u52a0\u901f\u5ea6\u7531IDM\u7ed9\u51fa\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\u6267\u884c\u5b50\u6a21\u5757<\/strong>\uff1a\u867d\u7136LLMs\u5177\u6709\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\uff0c\u4f46\u5b83\u4eec\u5728\u7cbe\u786e\u7684\u6570\u5b66\u8ba1\u7b97\u548c\u4f4e\u7ea7\u8f66\u8f86\u8fd0\u52a8\u63a7\u5236\u65b9\u9762\u8868\u73b0\u4e0d\u4f73\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\u6267\u884c\u5b50\u6a21\u5757\u3002\u5728\u8fd9\u4e2a\u6a21\u578b\u4e2d\uff0c\u4f5c\u8005\u4f7f\u7528\u57fa\u4e8e\u6a21\u578b\u7684\u65b9\u6cd5\u5c06\u63a8\u7406\u6a21\u5757\u7684\u8bed\u4e49\u8f93\u51fa\u8f6c\u6362\u4e3a\u52a0\u901f\u5ea6\u548c\u524d\u8f6e\u89d2\u5ea6\uff0c\u7136\u540e\u7528\u4e8e\u66f4\u65b0\u8f66\u8f86\u5728\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u5176\u4ed6\u4fe1\u606f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u52a0\u901f\u5ea6\u548c\u524d\u8f6e\u89d2\u5ea6\u90fd\u7531\u76f8\u5bf9\u7b80\u5355\u7684\u6bd4\u4f8b\u63a7\u5236\u5668\u63a7\u5236\uff0c\u8ba1\u7b97\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n<p>&nbsp;<\/p>\n<h4>C. \u63a8\u7406\u6a21\u5757<\/h4>\n<p>\u4f5c\u8005\u6784\u5efa\u4e86\u4e00\u4e2a\u96c6\u6210\u7684\u63a8\u7406\u6a21\u5757\uff0c\u4ece\u72b6\u6001\u5171\u4eab\u5230\u610f\u56fe\u5171\u4eab\u3001\u534f\u5546\uff0c\u6700\u7ec8\u51b3\u7b56\u3002\u8be5\u6a21\u5757\u4ee5\u601d\u7ef4\u94fe\u7684\u65b9\u5f0f\u8fd0\u4f5c\uff0c\u9996\u5148\u4ece\u73af\u5883\u4e2d\u63d0\u53d6\u5468\u56f4\u8f66\u8f86\u7684\u4fe1\u606f\u4ee5\u521b\u5efa\u573a\u666f\u63cf\u8ff0\u3002\u7136\u540e\uff0c\u5b83\u5c06\u8f66\u8f86\u7684\u72b6\u6001\u7ec4\u7ec7\u6210\u51b2\u7a81\u5bf9\uff0c\u5f62\u6210\u51b2\u7a81\u63cf\u8ff0\u3002\u4e3a\u4e86\u786e\u4fdd\u5728\u51b2\u7a81\u671f\u95f4\u8f66\u8f86\u51b3\u7b56\u7684\u4e00\u81f4\u6027\u5e76\u907f\u514d\u78b0\u649e\uff0c\u4f5c\u8005\u5f00\u53d1\u4e86\u4e00\u4e2a\u57fa\u4e8eLLM\u7684\u51b2\u7a81\u534f\u8c03\u5668\u3002\u8be5\u534f\u8c03\u5668\u5c06\u5f53\u524d\u7684\u51b2\u7a81\u63cf\u8ff0\u4e0e\u4ea4\u901a\u89c4\u5219\u7ed3\u5408\u8d77\u6765\uff0c\u786e\u5b9a\u6bcf\u4e2a\u51b2\u7a81\u7ec4\u7684\u4f18\u5148\u7ea7\u987a\u5e8f\u3002\u6700\u540e\uff0c\u6bcf\u4e2aCAV\u6839\u636e\u51b2\u7a81\u534f\u8c03\u5668\u7684\u5efa\u8bae\u548c\u81ea\u5df1\u7684\u60c5\u5883\u63cf\u8ff0\u505a\u51fa\u51b3\u7b56\u3002<\/p>\n<p><strong>State-perception<\/strong>\uff1a\u72b6\u6001\u611f\u77e5\u529f\u80fd\u8d1f\u8d23\u83b7\u53d6\u548c\u5904\u7406\u5f53\u524d\u73af\u5883\u7684\u4fe1\u606f\uff0c\u5305\u62ec\u52a8\u6001\u6570\u636e\uff0c\u5982\u8f66\u9053\u4fe1\u606f\u548c\u8f66\u8f86\u4fe1\u606f\u3002CAV\u88ab\u5141\u8bb8\u4e0e\u4ed6\u4eba\u4ea4\u6362\u4fe1\u606f\uff0c\u56e0\u6b64\u4e3a\u540e\u7eed\u66f4\u9ad8\u7ea7\u522b\u7684CDA\u94fa\u5e73\u4e86\u9053\u8def\u3002\u72b6\u6001\u611f\u77e5\u529f\u80fd\u53ef\u4ee5\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u51c6\u786e\u7684\u9a7e\u9a76\u73af\u5883\u8bc6\u522b\uff0c\u4e3a\u540e\u7eed\u63a8\u7406\u63d0\u4f9b\u53ef\u9760\u7684\u57fa\u7840\u3002<\/p>\n<p><strong>Intent-sharing<\/strong>\uff1a\u610f\u56fe\u5171\u4eab\u529f\u80fd\uff0c\u4f20\u8fbe\u8f66\u8f86\u9a7e\u9a76\u610f\u56fe\u7ed9\u5176\u4ed6CAV\uff0c\u662f\u534f\u540c\u9a7e\u9a76\u7684\u4e00\u4e2a\u5173\u952e\u4f18\u52bf\u3002\u4ece\u5b8f\u89c2\u5230\u5fae\u89c2\uff0c\u9a7e\u9a76\u610f\u56fe\u4e3b\u8981\u5305\u62ec\u5171\u4eab\u9884\u671f\u8f66\u9053\u548c\u9884\u671f\u901f\u5ea6\u3002\u901a\u8fc7\u610f\u56fe\u5171\u4eab\uff0c\u5176\u4ed6\u8f66\u8f86\u53ef\u4ee5\u66f4\u597d\u5730\u7406\u89e3\u81ea\u6211\u8f66\u8f86\u7684\u610f\u56fe\uff0c\u4f7f\u5b83\u4eec\u80fd\u591f\u5728\u907f\u514d\u51b2\u7a81\u7684\u540c\u65f6\u505a\u51fa\u51b3\u7b56\u3002<\/p>\n<p><strong>Negotiation<\/strong>\uff1a\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u51b2\u7a81\u534f\u8c03\u5668\u6765\u89e3\u51b3\u51b2\u7a81\uff0c\u5e76\u5b9e\u73b0\u5bfb\u6c42\u5171\u8bc6\u7684\u5408\u4f5c\u3002\u51b2\u7a81\u534f\u8c03\u5668\u8bc6\u522b\u5f53\u524d\u73af\u5883\u4e2d\u6240\u6709\u6f5c\u5728\u7684\u51b2\u7a81\uff0c\u5e76\u6839\u636e\u6240\u6d89\u53ca\u4e24\u8f86\u8f66\u7684\u5f53\u524d\u72b6\u6001\u8bc4\u4f30\u6bcf\u4e2a\u51b2\u7a81\u7684\u4e25\u91cd\u7a0b\u5ea6\u3002\u4e3a\u4e86\u91cf\u5316\u51b2\u7a81\u7684\u4e25\u91cd\u7a0b\u5ea6\uff0c\u4ee5\u65f6\u95f4\u5dee\u4f5c\u4e3a\u66ff\u4ee3\u6307\u6807\u5b9a\u4e49\u4e3a\uff1a<\/p>\n<p>&nbsp;<\/p>\n<p>\u51b2\u7a81\u534f\u8c03\u5668\u6839\u636e\u51b2\u7a81\u7684\u4e25\u91cd\u7a0b\u5ea6\u786e\u5b9a\u6bcf\u5bf9\u51b2\u7a81\u8f66\u8f86\u7684\u901a\u884c\u987a\u5e8f\u3002\u5728\u6b64\u8fc7\u7a0b\u4e2d\uff0c\u4ea4\u901a\u89c4\u5219\u548c\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u7684\u793e\u4ea4\u89c4\u8303\u540c\u65f6\u88ab\u51b2\u7a81\u534f\u8c03\u5668\u8003\u8651\u3002\u4f8b\u5982\uff0c\u5982\u56fe1\u6240\u793a\uff0c\u6839\u636e\u4ea4\u901a\u89c4\u5219\uff0c\u8f6c\u5f2f\u8f66\u8f86\u5e94\u8be5\u8ba9\u76f4\u884c\u8f66\u8f86\u5148\u884c\u3002\u56e0\u6b64\uff0c\u5728\u534f\u5546\u540e\uff0c\u51b2\u7a81\u534f\u8c03\u5668\u786e\u5b9aCAV2\u5e94\u8be5\u5728\u8fd9\u7ec4\u51b2\u7a81\u4e2d\u8ba9\u884c\u3002\u534f\u5546\u7ed3\u679c\u548c\u539f\u56e0\u88ab\u53d1\u9001\u5230\u51b3\u7b56\u529f\u80fd\u4ee5\u505a\u51fa\u6700\u7ec8\u51b3\u7b56\u3002\u7136\u800c\uff0c\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u534f\u5546\u7ed3\u679c\u662f\u5efa\u8bae\u6027\u7684\uff0c\u6700\u7ec8\u51b3\u7b56\u8fd8\u53d6\u51b3\u4e8e\u81ea\u6211\u8f66\u8f86\u5468\u56f4\u73af\u5883\u7684\u5176\u4ed6\u56e0\u7d20\u3002<\/p>\n<h4>D. 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game)\u548c\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5(MADQN)\u3002<\/p>\n<p><strong>\u6574\u4f53\u6027\u80fd<\/strong>\u4f5c\u8005\u603b\u7ed3\u4e86\u6bcf\u79cd\u65b9\u6cd5\u7684\u6210\u529f\u7387\u3002\u6839\u636e\u8868I\u4e2d\u7684\u6570\u636e\uff0cCoDrivingLLM\u7684\u8868\u73b0\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8fbe\u5230\u4e8690%\u7684\u6210\u529f\u7387\u3002iDFST\u548cCooperative Game\u65b9\u6cd5\u7565\u900a\u4e00\u7b79\uff0c\u90fd\u8fbe\u5230\u4e8685%\u7684\u6210\u529f\u7387\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u5b89\u5168\u8bc4\u4f30<\/strong>\u4f5c\u8005\u5bf9\u5404\u79cd\u65b9\u6cd5\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5b89\u5168\u6027\u5206\u6790\uff0c\u4f7f\u7528\u4e86\u4ea4\u901a\u5de5\u7a0b\u4e2d\u516c\u8ba4\u7684\u5b89\u5168\u6027\u53c2\u6570PostEncroachment Time (PET)\u3002\u8fd9\u4e00\u6307\u6807\u6709\u6548\u5730\u91cf\u5316\u4e86\u8f66\u8f86\u5728\u590d\u6742\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u5b89\u5168\u6027\u548c\u4ea4\u4e92\u5f3a\u5ea6\u3002\u6839\u636e\u56fe9\u548c\u8868I\u4e2d\u7684\u7ed3\u679c\uff0ciDFST\u65b9\u6cd5\u548cCoDrivingLLM\u8868\u73b0\u90fd\u5f88\u51fa\u8272\uff0c\u5e73\u5747PET\u503c\u5206\u522b\u4e3a15.1\u79d2\u548c10.3\u79d2\u3002\u76f8\u53cd\uff0cMADQN\u548cCooperative\u65b9\u6cd5\u7684PET\u503c\u5206\u522b\u4e3a5.7\u79d2\u548c3.7\u79d2\uff0c\u8868\u660e\u5728\u4ea4\u901a\u73af\u5883\u4e2d\u7684\u51b3\u7b56\u4ea4\u4e92\u4e2d\u5b58\u5728\u66f4\u9ad8\u7684\u98ce\u9669\u3002\u6b64\u5916\uff0cPET\u503c\u8f83\u4f4e\u610f\u5473\u7740\u5b58\u5728\u66f4\u9ad8\u7684\u5b89\u5168\u98ce\u9669\u3002\u901a\u5e38\uff0cPET\u503c\u5c0f\u4e8e1.5\u79d2\u8868\u793a\u5e94\u907f\u514d\u7684\u4e25\u91cd\u51b2\u7a81\u3002\u6839\u636e\u56fe9\uff0c\u6240\u63d0\u51fa\u7684CoDrivingLLM\u7684PET\u5206\u5e03\u4e3b\u8981\u96c6\u4e2d\u57281.5\u79d2\u4ee5\u4e0a\u3002\u5c3d\u7ba1MADQN\u7684PET\u5206\u5e03\u4e5f\u6ca1\u6709\u4f4e\u4e8e1.5\u79d2\u7684\u503c\uff0c\u4f46\u8003\u8651\u5230\u5176\u6210\u529f\u7387\u4ec5\u4e3a20%\uff0c\u5b58\u5728\u5927\u91cf\u7684\u78b0\u649e\u3002\u56e0\u6b64\uff0cCoDrivingLLM\u5728\u5b89\u5168\u6027\u65b9\u9762\u8868\u73b0\u6700\u4f73\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u6548\u7387\u8bc4\u4f30<\/strong>\u4f5c\u8005\u8fd8\u4f7f\u7528\u65c5\u884c\u901f\u5ea6\u8bc4\u4f30\u4e86\u6240\u6709\u65b9\u6cd5\u7684\u6548\u7387\u3002\u5982\u8868I\u6240\u793a\uff0cMADQN\u5728\u6d4b\u8bd5\u671f\u95f4\u8fbe\u5230\u4e86\u6700\u9ad8\u7684\u5e73\u5747\u901f\u5ea66.1 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