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一段式与二段式端到端的自动驾驶系统有什么区别?

  • 2026-07-23 01:21:18
一段式与二段式端到端的自动驾驶系统有什么区别?

一段式端到端

传感器原始数据 → 车辆控制指令，一个神经网络从头到尾全包。

  • 输入:摄像头/雷达/激光雷达的原始数据
  • 输出:方向盘转角、油门、刹车
  • 中间没有显式的"感知结果""轨迹预测"等结构化输出,整个流程是一个黑盒模型
  • 典型代表:NVIDIA PilotNet、Tesla FSD v12+

二段式端到端

传感器数据 → 中间表达 → 控制指令，中间夹一层可解释的接口。

通常拆成两大段:

  1. 感知-预测段
    :传感器原始数据 → 结构化中间表达(如 BEV 特征、占用网格、轨迹预测、车道线拓扑等)
  2. 规划-控制段
    :中间表达 → 方向盘/油门/刹车
  • 中间结果可以"看见"、可以可视化、可以校验
  • 典型代表:UniAD、VAD、Sparse Drive 等

核心对比

维度
一段式
二段式
网络数量
单一大模型
两个或多个可分别训练的模型
中间接口
无,黑盒
有,BEV/轨迹等结构化表达
可解释性
差,难以调试
较好,中间结果可观测
数据效率
高,信息无损失传递
中间表达若设计不当会丢信息
训练难度
端到端联合训练,梯度可穿透全网络
两段可分别训练,也可联合微调
失效定位
难,出问题只能整体重训
较易,能看出是感知段还是规划段错
上限能力
理论上限更高(无信息瓶颈)
受中间表达设计制约

从功能安全视角看

一段式的黑盒特性对 ISO 26262 的可追溯性、可解释性要求是巨大挑战——出事故后难以定位是"没看见"还是"决策错",FMEDA、FTA 都难以下手。

二段式因为有结构化中间表达,感知段和规划段可以分别做安全分析和验证,且中间接口可以作为安全监测点(例如检测"前方有障碍"是否成立),更符合功能安全对"可观测、可解释、可隔离失效"的诉求

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  1. CONNECT:[ UseTime:0.000769s ] mysql:host=127.0.0.1;port=3306;dbname=e_mffb;charset=utf8mb4
  2. SHOW FULL COLUMNS FROM `fenlei` [ RunTime:0.000864s ]
  3. SELECT * FROM `fenlei` WHERE `fid` = 0 [ RunTime:0.000310s ]
  4. SELECT * FROM `fenlei` WHERE `fid` = 63 [ RunTime:0.000261s ]
  5. SHOW FULL COLUMNS FROM `set` [ RunTime:0.000475s ]
  6. SELECT * FROM `set` [ RunTime:0.000197s ]
  7. SHOW FULL COLUMNS FROM `article` [ RunTime:0.000521s ]
  8. SELECT * FROM `article` WHERE `id` = 535973 LIMIT 1 [ RunTime:0.002042s ]
  9. UPDATE `article` SET `lasttime` = 1785046369 WHERE `id` = 535973 [ RunTime:0.003617s ]
  10. SELECT * FROM `fenlei` WHERE `id` = 67 LIMIT 1 [ RunTime:0.000237s ]
  11. SELECT * FROM `article` WHERE `id` < 535973 ORDER BY `id` DESC LIMIT 1 [ RunTime:0.000448s ]
  12. SELECT * FROM `article` WHERE `id` > 535973 ORDER BY `id` ASC LIMIT 1 [ RunTime:0.000357s ]
  13. SELECT * FROM `article` WHERE `id` < 535973 ORDER BY `id` DESC LIMIT 10 [ RunTime:0.000815s ]
  14. SELECT * FROM `article` WHERE `id` < 535973 ORDER BY `id` DESC LIMIT 10,10 [ RunTime:0.000743s ]
  15. SELECT * FROM `article` WHERE `id` < 535973 ORDER BY `id` DESC LIMIT 20,10 [ RunTime:0.004927s ]
0.097592s