{"id":8636,"date":"2026-05-30T19:24:03","date_gmt":"2026-05-30T11:24:03","guid":{"rendered":"https:\/\/infernews.com\/blog\/post-1b74803a\/"},"modified":"2026-05-30T19:24:03","modified_gmt":"2026-05-30T11:24:03","slug":"post-1b74803a","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/post-1b74803a\/","title":{"rendered":"URM \u81ea\u52d5\u99d5\u99db\u9ede\u6a23\u770b\u898b\u88ab\u906e\u64cb\u98a8\u96aa"},"content":{"rendered":"<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/05\/pasted-7f0d6d097ce8.jpg\" alt=\"Hero image preview\"><\/figure>\n<p>\u9019\u9805\u7814\u7a76\u7531\u4e2d\u570b\u5fa9\u65e6\u5927\u5b78\u63d0\u51fa\uff0c\u805a\u7126\u81ea\u52d5\u99d5\u99db\u5728\u90e8\u5206\u53ef\u89c0\u5bdf\u74b0\u5883\u4e2d\u7684\u96e3\u984c\uff1a\u524d\u65b9\u6216\u8def\u53e3\u88ab\u906e\u64cb\u6642\uff0c\u7cfb\u7d71\u770b\u4e0d\u5230\u6f5b\u5728\u8eca\u8f1b\u6216\u884c\u4eba\uff0c\u4f46\u4ecd\u8981\u63d0\u65e9\u898f\u5283\u5b89\u5168\u8def\u7dda\u3002\u73fe\u6709\u65b9\u6cd5\u901a\u5e38\u8d70\u5169\u500b\u65b9\u5411\uff0c\u4e00\u985e\u6839\u64da\u53ef\u5230\u9054\u72c0\u614b\u4f30\u7b97\u98a8\u96aa\uff0c\u5f80\u5f80\u904e\u65bc\u4fdd\u5b88\uff1b\u53e6\u4e00\u985e\u7528\u5b78\u7fd2\u65b9\u6cd5\u9810\u6e2c\u96b1\u85cf\u76ee\u6a19\u8ecc\u8de1\uff0c\u4f46\u5728\u9ad8\u906e\u64cb\u4e0d\u78ba\u5b9a\u6027\u4e0b\u672a\u5fc5\u5920\u6e96\u3002<\/p>\n<p>\u9805\u76ee\u9996\u5148\u63d0\u51fa\u4e00\u500b URM (Unified Risk Map)\uff0c\u628a\u4ea4\u901a\u6d41\u98a8\u96aa\u8207\u78b0\u649e\u98a8\u96aa\u653e\u5165\u540c\u4e00\u500b\u6642\u7a7a\u6846\u67b6\u5efa\u6a21\u3002\u524d\u8005\u5f9e multimodal trajectory distributions \u4f30\u7b97\u5bc6\u5ea6\uff0c\u5f8c\u8005\u5247\u900f\u904e\u6a21\u64ec ego vehicle \u8ecc\u8de1\uff0c\u627e\u51fa\u4e0d\u540c\u6642\u9593\u8207\u4f4d\u7f6e\u7684\u9ad8\u98a8\u96aa\u5340\u57df\uff0c\u4ee4\u7cfb\u7d71\u4e0d\u53ea\u77e5\u9053\u300c\u53ef\u80fd\u6709\u6771\u897f\u300d\uff0c\u4ea6\u77e5\u9053\u300c\u54ea\u88cf\u66f4\u5371\u96aa\u300d\u3002<\/p>\n<p>\u70ba\u4e86\u88dc\u8db3\u906e\u64cb\u4e92\u52d5\u5834\u666f\u4e0d\u8db3\u7684\u554f\u984c\uff0c\u7814\u7a76\u540c\u6642\u52a0\u5165 diffusion-based scenario generation framework\uff0c\u751f\u6210\u65e2\u771f\u5be6\u53c8\u5e36\u6311\u6230\u6027\u7684\u60c5\u5883\uff0c\u7528\u4f86\u8a13\u7df4 unified risk map\u3002\u6574\u9ad4\u6846\u67b6\u628a\u98a8\u96aa\u5efa\u6a21\u3001\u5b78\u7fd2\u8207\u898f\u5283\u4e32\u9023\u8d77\u4f86\uff0c\u76ee\u6a19\u662f\u5728 partial observability \u4e0b\u652f\u63f4 risk-aware planning\u3002<\/p>\n<p>\u91cd\u9ede\u53ef\u6982\u62ec\u70ba\uff1a<br \/>\n&#8211; \u628a traffic flow risk \u8207 collision risk \u5408\u4f75\u6210\u55ae\u4e00\u98a8\u96aa\u8868\u793a<br \/>\n&#8211; \u91dd\u5c0d occlusion-aware prediction \u7684\u76f2\u9ede\uff0c\u63d0\u4f9b\u66f4\u7d30\u7dfb\u7684\u6642\u7a7a\u98a8\u96aa\u5224\u65b7<br \/>\n&#8211; \u7528 diffusion-based scenario generation framework \u88fd\u9020\u7a00\u7f3a\u7684\u906e\u64cb\u4e92\u52d5\u60c5\u5883<br \/>\n&#8211; \u5728 Waymo Open Motion Dataset \u4e0a\uff0c\u8f03\u73fe\u6709 occlusion-aware baseline \u6709\u660e\u986f\u63d0\u5347<\/p>\n<p>\u9019\u500b\u65b9\u6cd5\u5728 Waymo Open Motion Dataset \u4e0a\uff0c\u628a minimum time-to-collision \u6539\u5584 0.78 \u500d\uff0caverage time-to-collision \u6539\u5584 1.67 \u500d\uff0c\u986f\u793a\u7cfb\u7d71\u80fd\u66f4\u65e9\u907f\u958b\u9ad8\u98a8\u96aa\u60c5\u6cc1\u3002\u9019\u500b\u9805\u76ee\u8f03\u9069\u5408\u95dc\u6ce8 autonomous driving\u3001Planning under Uncertainty\u3001Integrated Planning and Learning \u7684\u7814\u7a76\u8005\u8207\u5de5\u7a0b\u5718\u968a\uff1b\u5982\u679c\u4f60\u60f3\u4e86\u89e3\u81ea\u52d5\u99d5\u99db\u5982\u4f55\u8655\u7406\u8996\u7dda\u6b7b\u89d2\uff0c\u9019\u5957\u65b9\u6cd5\u63d0\u4f9b\u4e86\u76f8\u7576\u5177\u9ad4\u7684\u65b9\u5411\u3002<\/p>\n<p><strong>Paper\uff1a<\/strong> <a href=\"https:\/\/arxiv.org\/pdf\/2605.22189\" rel=\"noopener noreferrer\">https:\/\/arxiv.org\/pdf\/2605.22189<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7528\u7d71\u4e00\u98a8\u96aa\u5730\u5716\u8655\u7406\u8996\u7dda\u6b7b\u89d2\uff0c\u5e6b\u81ea\u52d5\u99d5\u99db\u5728\u770b\u4e0d\u6e05\u74b0\u5883\u6642\u4f5c\u51fa\u8f03\u7a69\u59a5\u5224\u65b7\u3002<\/p>\n","protected":false},"author":8,"featured_media":8635,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ai_generated_summary":"","wpai_meta_description":"","footnotes":""},"categories":[133,149,186,197],"tags":[],"class_list":["post-8636","post","type-post","status-publish","format-standard","hentry","category-133","category-149","category-186","category-framework"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/8636","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=8636"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/8636\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/8635"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=8636"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=8636"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=8636"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}