该模块的作用是将感知模块获得的信息映射到高级动作或决策层。该模块旨在提供对场景的更高层次的理解,通过融合异构传感器源(如激光雷达、相机、雷达、超声波),抽象和概括场景信息,为决策制定提供简化的信息。2.3 定位和建图(Localization and Mapping)定位和建图技术,又称 SLAM 是自动驾驶的关键技术之一。由于问题的规模,传统的 SLAM 技术通过语义对象检测得到增强,以实现可靠的消歧。此外,局部高清地图(HD maps)可以用作物体检测的先验。
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