特斯拉FSD beta 來比眼力有沒有比AI好 - 特斯拉
By Skylar DavisLinda
at 2021-04-09T11:16
at 2021-04-09T11:16
Table of Contents
※ 引述《airforce1101 (我不宅)》之銘言:
: 影像、雷達、光達不太一樣,我把影像與雷達、光達拆成兩類好了,影像對於訊號處理來
: 說屬於二維陣列,但是雷達與光達可以帶回三維的目標資訊,雷達就是低頻段的光,因頻
: 率特性不同,所以適用場景不同,光達的脈衝時間很短,所以較於雷達相比,對於相同目
: 標,可以帶回更高精度的資訊。
: 光達的領域上有關延展性目標,可以參考K. Granstrom, M. Baum, and S. Reuter 所著
: 的這篇文章 Extended object tracking: Introduction, overview, and application.
: 在AI輔助下,或許環境良好下影像能做到光達能大多數能做的事,但某些判斷影像與光達
: 先天上的差距還是存在。
: 其實也好奇,傳感器與影像間的關聯是否讓AI找出並學習其特徵向量,有待高手解答了。
目前應用的雷達跟光達在量測數據上還是有些不同
[雷達]
參考這篇文章
https://reurl.cc/e9AeVW
https://i.imgur.com/AInOO4D.jpg
The physical properties of the signal (the Doppler effect) enable such units
to measure three parameters [R, Az, V]: distance and angle (azimuth) to the
object, as well as velocity and its sign
量測距離、角度、相對速度
雷達波打到人孔蓋、標誌(金屬)因反射造成錯誤偵測問題
解法:濾掉靜止量測數據,輸出會動的物體量測
推 airforce1101: 動靜物體還好分,可以算多普勒頻率04/08 22:38
→ airforce1101: 靜態物體區別很難04/08 22:39
趨勢:4D Imaging Radar
https://i.imgur.com/O5TxpCd.jpg
4D radar unit with a planar antenna array (read on to find more about it)
capable of measuring range, azimuth, elevation angle and velocity [R, Az, Ev
and V]
量測距離、方位角、高度角、速度
幾家發展4D Radar的廠商
Arbe: Radar Revolution. Delivered. (rumor是特斯拉可能採用他們方案)
https://www.youtube.com/watch?v=Yc4MfzbbtuI
The RadSee 4D Imaging Radar
https://www.youtube.com/watch?v=h7t-6_wiZKM
雖然解析度、精度還是不如光達
但就如airforce1101講的,或許是惡劣天候下的一個不錯方案
推 airforce1101: 毫米波比多數的物體尺寸短,也落在光學反射區04/08 22:53
→ airforce1101: 少了高頻光對於較差氣候的衰減影像04/08 22:54
[光達]
傳統光達(AM lidar)量測到的三維點雲,但不包含速度資訊
速度必須經由不同時間點的數據進行推算
(點雲分類、時間軸前後關聯、過濾雜訊,進而推算該物體速度)
這些都有賴演算法,但演算法100%正確只能說太樂觀XD
趨勢之一:FCMW lidar (frequency modulated continuous wave)
https://reurl.cc/4ynZ3D
https://i.imgur.com/i3DSwxa.jpg
FMCW lidar is more accurate for tracking objects that are moving, such as
other vehicles on the road
可以直接量測速度,因此不需透過演算法推算
軟體複雜度下降是好事(系統強健性)
發展FM lidar的廠商:Blackmore(現已被Aurora收購)
Blackmore Sensors and Analytics, Inc. Doppler lidar
https://www.youtube.com/watch?v=Cd48BiiPgLA
Aurora 收購 LiDAR 公司 Blackmore,繼續向全堆疊供應商邁進
https://technews.tw/2019/05/30/aurora-is-buying-a-laser-lidar-maker/
FMCW 技術加身,Aurora 也加入自研光學雷達
https://technews.tw/2020/07/16/aurora-self-developed-lidar/
但光達還是有一些失效模式
鏡像、玻璃材質測不到(光穿透)、黑色物體偵測距離偏短(吸收能量)
感測器各有千秋啦
期待單一系統期做到接近100%正確滿足全自駕,不切實際
況且對於"安全要求"相當要求的自駕
就算一種方案能做到接近完美,有另一個方案作為redundancy不好嗎?
--
Aurora 收購 LiDAR 公司 Blackmore,繼續向全堆疊供應商邁進
https://technews.tw/2019/05/30/aurora-is-buying-a-laser-lidar-maker/
FMCW 技術加身,Aurora 也加入自研光學雷達
https://technews.tw/2020/07/16/aurora-self-developed-lidar/
但光達還是有一些失效模式
鏡像、玻璃材質測不到(光穿透)、黑色物體偵測距離偏短(吸收能量)
感測器各有千秋啦
期待單一系統期做到接近100%正確滿足全自駕,不切實際
況且對於"安全要求"相當要求的自駕
就算一種方案能做到接近完美,有另一個方案作為redundancy不好嗎?
--
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特斯拉
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