AD论文阅读

ACC： target  selection 

AI method: RNN,LSTM... boost

2019, LSTM

​​​​​​https://kth.diva-portal.org/smash/get/diva2:1375828/FULLTEXT01.pdf

2021 ,DP

​​​​​​Full range adaptive cruise control_11311-822928_Alippi.pdf (polimi.it)

Full-range Adaptive Cruise Control Based on Supervised Adaptive Dynamic Programming

分段线性拟合，车道线？分割点如何设置，却决于传感器的测量特性，局限性。 40m Lidar 精度高，以上就不行了，都需要考虑。

​​​​​​【自动驾驶算法】分段最小二乘法拟合 - 知乎 (zhihu.com)

路径规划：

自车heading ，通过Camerad的 C1 ，两边两个C1,三角关系，或者自车偏航角。

5次多项式

(17) (PDF) Adaptive Lane Change and Lane Keeping for Safe and Comfortable Driving (researchgate.net)

基于Frenet坐标系采样的自动驾驶轨迹规划算法研究 - 豆丁网

局部路径轨迹，AI ，规则方法。

A Review of Motion Planning for Highway Autonomous Driving (archives-ouvertes.fr)

2011.04752.pdf (arxiv.org)

Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning

Fusion:

2004.05224.pdf (arxiv.org)

Result-level Fusion

Multi-level Fusion (hybird) use signal 2D box to get the ROI proposal ,选择需要的点云（gating)

Feature-level Fusion ( pixel level)

底层融合： 摄像头的信息painting到 lidar点云中。 --zeeker

大陆的演示 

hybird fusion : 用2D框，去确定另一个 sensor ROI

目标级融合

multi-view fusion: BEV, front view ....tbd.

to read:

66] S. Vora, A. H. Lang, B. Helou, and O. Beijbom, “Pointpainting: Sequential fusion for 3d object detection,” 2019.

Song-Jingyu/PointPainting: This repository is an open-source PointPainting package which is easy to understand, deploy and run! (github.com)

[67] X. Chen, H. Ma, J. Wan, B. Li, and T. Xia, “Multi-view 3d object detection network for autonomous driving,” 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jul 2017. [Online]. Available: http://dx.doi.org/10.1109/CVPR.2017.691

自动驾驶|3D目标检测：MV3D-Net(一) - 知乎 (zhihu.com)

Camera OD:

ICCV 2021 Open Access Repository (thecvf.com) (calmcar)