自动驾驶和人工智能_教一个自动驾驶人工智能看分析和案例研究-CSDN博客

自动驾驶和人工智能

Highly automated and autonomous driving places enormous pressure on the safety and reliability of its technology. Flawed reference data can mess up the entire training process of an autonomous driving algorithm, from perception and situation analysis to behavior planning. Bosch showed how to train neural networks efficiently thanks to highly accurate annotated data from understand.ai.

高度自动化和自动驾驶给其技术的安全性和可靠性带来了巨大压力。 有缺陷的参考数据可能会弄乱自动驾驶算法的整个训练过程，从感知和情况分析到行为计划。 博世(Bosch) 展示了如何从 谅解( AI)获得的高度准确的注释数据，有效地训练神经网络 。

Efficient development of particularly reliable control systems for autonomous driving up to SAE Level 5 requires fitting technologies. Conventional control-based approaches had to give way to capabilities of trained neural networks. When executed on fast graphics processing units (GPUs), neural networks are particularly suitable for the processing of vast amounts of data from high-resolution sensors. This is how Bosch’s approach worked.

有效开发特别可靠的控制系统以自动驾驶至SAE Level 5要求采用装配技术。基于传统控制的方法必须让位于训练有素的神经网络的功能。当在快速图形处理单元(GPU)上执行时，神经网络特别适合处理来自高分辨率传感器的大量数据。博世的方法就是这样工作的。

1.我们从哪里开始？ (1. Where do we start with AI?)

The first step was to investigate potential application areas for artificial intelligence (AI) along the entire processing chain from perception to situation analysis and behavior planning. Bosch identified AI application areas focusing on multimodal perception, i.e., the environment perception of a vehicle with the merged data of video, RADAR, and LiDAR sensors.

第一步是研究从感知到情况分析和行为计划的整个处理链中人工智能(AI)的潜在应用领域。博世确定了专注于多模式感知(即具有视频，RADAR和LiDAR传感器的合并数据的车辆环境感知)的AI应用领域。

2.高速公路和城市交通高峰时间的区别：建立多样化的数据集 (2. The difference between highways and a city rush hour: Setting up a diverse data set)

To properly train self-driving algorithms you have to feed it with diverse training data. Raw sensor data had to be recorded in very diverse traffic environments — highways, country roads, urban areas, traffic objects, traffic scenarios, weather conditions etc. This was achieved by defining the ideal types and characteristics of routes as well as route categories. Tracks that match the definitions and cover all defined categories were then selected for the actual recorded rides.

为了正确地训练自动驾驶算法，您必须向其提供各种训练数据。必须在非常多样化的交通环境中记录原始传感器数据-高速公路，乡村道路，城市地区，交通对象，交通场景，天气情况等。这是通过定义路线的理想类型和特征以及路线类别来实现的。然后选择符合定义并涵盖所有已定义类别的赛道作为实际记录的游乐设施。

3.算法如何学习观察？使用监督学习训练神经网络 (3. How does an algorithm learn to see? Training neural networks using supervised learning)

Like the human brain, neural networks learn by means of positive and negative examples: The paths to correct results are maintained, the ones to incorrect results are discarded. Both tasks and solutions are required to identify correct results. In the context of systems for autonomous driving, these tasks and solutions are typically the raw sensor data and the detected objects, respectively. This approach is called supervised learning. The solutions are made available in a previous step by markings (labels/ annotations) in the form of reference data (raw data plus label/ annotation).

像人的大脑一样，神经网络也可以通过积极和消极的例子来学习：保持正确结果的路径，丢弃错误结果的路径。任务和解决方案都需要识别正确的结果。在用于自动驾驶的系统中，这些任务和解决方案通常分别是原始传感器数据和检测到的对象。这种方法称为监督学习。在上一步中，通过以参考数据(原始数据加标签/注释)形式的标记(标签/注释)使解决方案可用。

4.只有高质量的学习数据才能解决问题 (4. Only high-quality learning data will do the trick)

Bosch knew that successful (machine) learning requires the use of high-quality learning material. Relevant objects that the AI has to recognize by itself later (pixel patterns etc.) must be precisely marked and classified in the data. This step entails huge volumes of annotated data, which is done manually to a large extent. To maintain the efficiency of this process, automation proved to be essential. understand.ai, a dSPACE group company that specializes in labeling automation was chosen to tackle the challenge. Bosch and understand.ai agreed on data quality and precision goals to ensure successful training.

博世知道成功的(机器)学习需要使用高质量的学习材料。 AI必须稍后自行识别的相关对象(像素图案等)必须精确标记并分类到数据中。此步骤需要大量注释的数据，这在很大程度上是手动完成的。为了保持该过程的效率，自动化是必不可少的。 dSPACE集团的一家专门从事标签自动化的公司被理解为应对挑战。博世和谅解.ai同意数据质量和精度目标，以确保成功进行培训。

Image for post — Example screenshot of the UAI Annotator, the understand.ai algorithmic annotation tooling

5. LiDAR数据的3D注释及其怪癖 (5. 3D annotation of LiDAR data and its quirks)

Objects in the LiDAR sensor data were marked with high-precision cuboids placed in the 3D point clouds of the LiDAR recordings. The camera sensor data was used for plausibility checks to identify object classes and respective attributes. An iterative approach was applied to review the defined quality goals. After the initial feedback loop, the team of understand.ai was able to incorporate the requirements and processed the data with little final rework required.

LiDAR传感器数据中的对象用放置在LiDAR记录的3D点云中的高精度长方体标记。相机传感器数据用于真实性检查，以识别对象类别和各自的属性。采用迭代方法来审查已定义的质量目标。在初始反馈循环之后，了解.ai团队能够合并需求并处理数据，而无需进行最后的返工。

The annotation journey for autonomous driving has its challenges such as differentiating between cars and vans or detecting vehicles with roof boxes or bicycle racks. The particular AD/ADAS knowledge and powerful tools make the difference in quality and throughput — they save precious project time and resources. With its AI-powered automated labeling tools for object detection, regression and attribute setting, understand.ai was able to identify edge cases and set a new standard in annotation automation.

自动驾驶的注释过程具有挑战性，例如区分汽车和货车或检测带有车顶箱或自行车架的车辆。特定的AD / ADAS知识和强大的工具使质量和吞吐量有所不同-它们节省了宝贵的项目时间和资源。谅解.ai凭借其AI驱动的用于对象检测，回归和属性设置的自动标记工具，能够识别边缘情况并为注释自动化设定新的标准。

6.送入机器：带注释的传感器数据的监督学习 (6. Feeding the Machine: Supervised learning with annotated sensor data)

Finally, neural networks are being trained with the high-quality labelled data. Training can take several days or weeks depending on the depth of the network and the amount of data. A prerequisite for successful training processes is a coordinated IT infrastructure equipped with powerful GPU-based computer clusters.

最后，神经网络正在使用高质量的标记数据进行训练。培训可能需要几天或几周的时间，具体取决于网络的深度和数据量。成功的培训过程的前提是配备了强大的基于GPU的计算机集群的协调IT基础架构。

关键时刻 (The Moment of Truth)

What were the lessons Bosch learned during the process?

博世在此过程中学到了什么？

Highly accurate annotation is indispensable for supervised learning — quality of the reference data determines the AI’s ability to clearly identify objects.
高度精确的注释对于有监督的学习是必不可少的-参考数据的质量决定了AI清楚识别对象的能力。
Annotation is a learning process in which labeling specifications, processes and tools are continuously optimized in order to achieve the highest possible quality and automation. Powerful tools and efficient feedback cycles lead to the desired results.
注释是一个学习过程，在该过程中，不断优化标签规格，过程和工具，以实现最高的质量和自动化。强大的工具和有效的反馈周期可带来理想的结果。
When it comes to the expertise of annotation specialists, experience in autonomous driving is critical for a successful training project.
说到注释专家的专业知识，无人驾驶的经验对于成功的培训项目至关重要。

„Highly accurate annotation is an indispensable prerequisite for supervised machine learning. We rely on the labeling service and tools from understand.ai.“

„高度精确的注释是有监督的机器学习必不可少的前提。 我们依靠理解.ai提供的标签服务和工具。”

Dr. Florian Faion, Research Scientist LiDAR Perception at BOSCH

博世LiDAR感知研究科学家Florian Faion博士

接下来会发生什么？注释环绕视图数据 (What’s coming next? Annotating Surround View Data)

A new measurement campaign is planned for 360° environment detection, in which the vehicle environment is recorded in high resolution with camera, LiDAR, and RADAR sensors. It creates new challenges in terms of data volume, synchronous processing and annotation of the merged data. The subsequent steps are currently being discussed by the experts from understand.ai and Bosch.

计划开展一项新的测量活动，以进行360°环境检测，其中通过摄像头，LiDAR和RADAR传感器以高分辨率记录车辆环境。它在数据量，同步处理和合并数据的注释方面提出了新的挑战。目前，explain.ai和Bosch的专家正在讨论后续步骤。

Read more about the project in an article in the dSPACE Magazine 01/2020 here.

了解更多关于该项目的版dSPACE杂志01/2020的一篇文章中这里。

Benjamin Dilger, Head of Customer Success at understand.ai

谅解.ai客户成功主管Benjamin Dilger

Learn more about Automated Driving Solutions by BOSCH here.

在这里了解更多关于博世自动驾驶解决方案的信息。

关于谅解 (About understand.ai)

We believe that AI is the most powerful tool our generation has at hand. At understand.ai, we make deep learning accessible for real-world applications like self-driving cars.

我们相信AI是我们这一代拥有的最强大的工具。通过理解.ai ，我们使深度学习可用于自动驾驶汽车等现实应用。

By introducing the automation engine for data annotation, we commit to deliver the right data at the right quality and the right quantity to our customers. Tooling designed by AI-natives, our Zero-Touch Annotation technology enables its users to cut costs and accelerate the training and testing of assisted & autonomous driving technology. We empower our customers to grow thanks to zero errors, zero delays and zero worries about their data annotation budget. We Automate Annotations.

通过引入用于数据标注的自动化引擎 ，我们致力于以正确的质量和正确的数量向客户提供正确的数据 。由AI-natives设计的工具，我们的零接触注释技术使用户能够削减成本并加快辅助和自动驾驶技术的培训和测试。零错误，零延迟和对数据注释预算的零担忧，使我们的客户得以成长。 我们使注释自动化。