【论文翻译】nuPlan A closed-loop ML-based planning benchmark for autonomous vehicles

论文链接：https://arxiv.org/pdf/2106.11810.pdf

标题

nuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles
nuPlan：基于机器学习的闭环规划benchmark，用于自动驾驶车辆

1 摘要/Abstract

In this work, we propose the world’s first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in this area. Existing benchmarks for autonomous vehicle motion prediction have focused on short-term motion forecasting, rather than long-term planning. This has led previous works to use open-loop evaluation with L2-based metrics, which are not suitable for fairly evaluating long-term planning. Our benchmark overcomes these limitations by introducing a largescale driving dataset, lightweight closed-loop simulator, and motion-plann