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北汽:基于大语言模型的自动驾驶仿真测试场景生成

  • 2026-03-16 23:46:30
北汽:基于大语言模型的自动驾驶仿真测试场景生成
摘要: 随着自动驾驶技术的快速发展，仿真测试场景对真实性和多样性的要求不断提高。然而，传统的自动驾驶仿真场景构建方法依赖人工编辑，不仅成本高昂，而且面临场景要素组合和复杂度受限的问题，难以满足自动驾驶系统全面测试验证的需求。为解决这一问题，提出了一种基于大语言模型(LLMs)的自动驾驶仿真测试场景生成方法。该方法基于预训练大语言模型，通过LoRA微调，结合场景语言解析，输出一种结构化的解释性语言，用于生成仿真场景文件。生成的文本经过解析器转换为可用的仿真场景文件，有效解决单个生成文本过长和模型幻觉等问题，实现了通用模型能力的专用化，显著提高了自动驾驶仿真场景生成的效率和多样性。
原论文截图如下，原论文下载见文末【阅读原文】。
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  1. CONNECT:[ UseTime:0.000456s ] mysql:host=127.0.0.1;port=3306;dbname=e_mffb;charset=utf8mb4
  2. SHOW FULL COLUMNS FROM `fenlei` [ RunTime:0.000593s ]
  3. SELECT * FROM `fenlei` WHERE `fid` = 0 [ RunTime:0.020491s ]
  4. SELECT * FROM `fenlei` WHERE `fid` = 63 [ RunTime:0.004456s ]
  5. SHOW FULL COLUMNS FROM `set` [ RunTime:0.000814s ]
  6. SELECT * FROM `set` [ RunTime:0.004989s ]
  7. SHOW FULL COLUMNS FROM `article` [ RunTime:0.000674s ]
  8. SELECT * FROM `article` WHERE `id` = 479592 LIMIT 1 [ RunTime:0.013280s ]
  9. UPDATE `article` SET `lasttime` = 1775110359 WHERE `id` = 479592 [ RunTime:0.041259s ]
  10. SELECT * FROM `fenlei` WHERE `id` = 67 LIMIT 1 [ RunTime:0.005921s ]
  11. SELECT * FROM `article` WHERE `id` < 479592 ORDER BY `id` DESC LIMIT 1 [ RunTime:0.000495s ]
  12. SELECT * FROM `article` WHERE `id` > 479592 ORDER BY `id` ASC LIMIT 1 [ RunTime:0.000405s ]
  13. SELECT * FROM `article` WHERE `id` < 479592 ORDER BY `id` DESC LIMIT 10 [ RunTime:0.002416s ]
  14. SELECT * FROM `article` WHERE `id` < 479592 ORDER BY `id` DESC LIMIT 10,10 [ RunTime:0.000809s ]
  15. SELECT * FROM `article` WHERE `id` < 479592 ORDER BY `id` DESC LIMIT 20,10 [ RunTime:0.000864s ]
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