{"id":276,"date":"2025-12-28T20:33:02","date_gmt":"2025-12-28T12:33:02","guid":{"rendered":"https:\/\/blog.zeronely.cn\/?p=276"},"modified":"2025-12-28T20:33:04","modified_gmt":"2025-12-28T12:33:04","slug":"%e8%ae%ba%e6%96%87%e9%98%85%e8%af%bb%e4%b8%8e%e5%a4%84%e7%90%86%e6%95%b0%e6%8d%ae%e9%9b%86","status":"publish","type":"post","link":"https:\/\/blog.zeronely.cn\/index.php\/2025\/12\/28\/%e8%ae%ba%e6%96%87%e9%98%85%e8%af%bb%e4%b8%8e%e5%a4%84%e7%90%86%e6%95%b0%e6%8d%ae%e9%9b%86\/","title":{"rendered":"\u8bba\u6587\u9605\u8bfb\u4e0e\u5904\u7406\u6570\u636e\u96c6"},"content":{"rendered":"\n<h1 class=\"wp-block-heading\" id=\"\u8bba\u6587\u9605\u8bfb\">\u8bba\u6587\u9605\u8bfb<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"trajectory-llm-a-language-based-data-generator-for-trajectory-prediction-in-autonomous-driving\">Trajectory-LLM: A Language-based Data Generator for Trajectory Prediction in Autonomous Driving<\/h2>\n\n\n\n<p>\u63d0\u51faTrajectory-LLM\uff08Traj-LLM\uff09 \u8fd9\u4e00\u57fa\u4e8e\u5927\u8bed\u8a00\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u8f68\u8ff9\u751f\u6210\u65b9\u6cd5\uff0c\u901a\u8fc7\u521b\u65b0\u7684 \u201c\u4ea4\u4e92 &#8211; \u884c\u4e3a &#8211; \u8f68\u8ff9\u201d \u4e09\u9636\u6bb5\u7ffb\u8bd1\u8303\u5f0f\uff0c\u4ee5\u8f66\u8f86\u4ea4\u4e92\u7684\u7b80\u77ed\u6587\u672c\u63cf\u8ff0\u4e3a\u8f93\u5165\uff0c\u5148\u751f\u6210\u542b\u9a7e\u9a76\u903b\u8f91\u7684\u8f66\u8f86\u884c\u4e3a\u5e8f\u5217\uff0c\u518d\u8f6c\u5316\u4e3a\u5177\u4f53\u8f68\u8ff9\uff0c\u89e3\u51b3\u4e86\u4f20\u7edf\u8bed\u8a00\u9a71\u52a8\u8f68\u8ff9\u751f\u6210\u4e2d\u884c\u4e3a\u4e0d\u5408\u7406\u3001\u591a\u6837\u6027\u4e0d\u8db3\u7684\u95ee\u9898\uff1b\u540c\u65f6<strong>\u6784\u5efa\u4e86\u5305\u542b240K \u4ea4\u901a\u573a\u666f\u7684L2T \u6570\u636e\u96c6\uff0c\u6db5\u76d6 6 \u7c7b\u9053\u8def\u62d3\u6251\u3001\u591a\u7c7b\u8f66\u8f86\u4ea4\u4e92\u4e0e\u884c\u4e3a\u6807\u6ce8<\/strong>\uff1b\u5b9e\u9a8c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u751f\u6210\u7684\u8f68\u8ff9\u5728\u771f\u5b9e\u6027\u3001\u591a\u6837\u6027\u548c\u53ef\u63a7\u6027\u4e0a\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u5c06\u5176\u4f5c\u4e3a\u8865\u5145\u6570\u636e\u7528\u4e8e\u8bad\u7ec3\u4e0b\u6e38\u8f68\u8ff9\u9884\u6d4b\u6a21\u578b\uff0c\u53ef\u6709\u6548\u63d0\u5347\u6a21\u578b\u5728 Waymo\u3001Argoverse \u7b49\u516c\u5f00\u57fa\u51c6\u4e0a\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u683c\u5f0f\uff08\u90e8\u5206\uff09<\/strong><\/p>\n\n\n\n<p><strong>\u8f66\u8f86\u4ea4\u4e92\u6807\u6ce8<\/strong>&nbsp;\u805a\u7126 \u8fd1\u8ddd\u79bb\uff08&lt;10 \u7c73\uff09\u9ad8\u5f3a\u5ea6\u4ea4\u4e92\uff0c\u5305\u62ec 3 \u7c7b\u6838\u5fc3\u4ea4\u4e92\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ed5\u884c\u9759\u6b62\u5bf9\u8c61\uff08\u5982\u4ea4\u901a\u9525\u3001\u505c\u9a76\u8f66\u8f86\uff09\uff1b<\/li>\n\n\n\n<li>\u8d85\u8f66\u52a8\u6001\u5bf9\u8c61\uff08\u5982\u4f4e\u901f\u884c\u9a76\u8f66\u8f86\uff09\uff1b<\/li>\n\n\n\n<li>\u8ba9\u884c\u52a8\u6001\u5bf9\u8c61\uff08\u5982\u8def\u53e3\u8f66\u8f86\u3001\u884c\u4eba\uff09\uff1b<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8f68\u8ff9\u53c2\u6570<\/strong>&nbsp;\u6bcf\u4e2a\u79fb\u52a8\u5bf9\u8c61\u7684\u8f68\u8ff9\u7531\u65f6\u5e8f\u8def\u70b9\u7ec4\u6210\uff0c\u6bcf\u4e2a\u8def\u70b9\u542b 4 \u4e2a\u5173\u952e\u53c2\u6570\uff1ax \u5750\u6807\u3001y \u5750\u6807\u3001\u822a\u5411\u89d2\uff08Heading\uff09\u3001\u901f\u5ea6\uff08Speed\uff09\uff1b\u8f68\u8ff9\u65f6\u957f\u226420 \u79d2\uff0c\u91c7\u6837\u9891\u7387 20Hz\uff08\u5373\u6bcf\u79d2 20 \u4e2a\u8def\u70b9\uff09\u3002<\/p>\n\n\n\n<p>scenario_id (\u5b57\u7b26\u4e32): \u573a\u666f\u7684\u552f\u4e00\u6807\u8bc6\u7b26\uff0c\u4f8b\u5982 &#8220;bec3d451f2566c64e4933811408ab094&#8243;\u3002<\/p>\n\n\n\n<p>scenario_label (\u5bf9\u8c61):<\/p>\n\n\n\n<p><strong>map (\u5b57\u7b26\u4e32):<\/strong>&nbsp;\u5730\u56fe\u7c7b\u578b\uff0c\u4f8b\u5982 &#8220;T-shaped&#8221;\u3002<br>interaction (\u5b57\u7b26\u4e32):&nbsp;<strong>\u4ea4\u4e92\u63cf\u8ff0\uff0c\u4f8b\u5982 &#8220;Egocar bypasses TrafficCone5870, TrafficCone9968, Pedestrian3686; Egocar overtakes NPCCar8291&#8243;\uff0c\u63cf\u8ff0\u4ee3\u7406\u95f4\u7684\u5173\u7cfb\u3002<\/strong><br>agent_nums (\u6574\u6570): \u573a\u666f\u4e2d\u4ee3\u7406\u7684\u6570\u91cf\uff0c\u4f8b\u5982 5\u3002<br>agent_behavior (\u5bf9\u8c61): \u6bcf\u4e2a\u4ee3\u7406\u7684\u884c\u4e3a\u63cf\u8ff0\u3002\u952e\u4e3a\u4ee3\u7406 ID\uff08\u5982 &#8220;egocar0&#8243;\uff09\uff0c\u503c\u5305\u542b\uff1a<\/p>\n\n\n\n<p>init (\u5bf9\u8c61): \u521d\u59cb\u72b6\u6001\uff0c\u5305\u62ec x (x \u5750\u6807)\u3001y (y \u5750\u6807)\u3001heading (\u671d\u5411\u89d2\u5ea6)\u3001speed (\u901f\u5ea6)\u3002<br>behavior (\u6570\u7ec4): \u884c\u4e3a\u5e8f\u5217\uff0c\u6bcf\u4e2a\u5143\u7d20\u662f\u4e00\u4e2a\u5bf9\u8c61\uff0c\u5305\u542b action (\u884c\u4e3a\u7c7b\u578b\uff0c\u5982 &#8220;\u5de1\u822a&#8221; \u6216 &#8220;\u505c\u6b62&#8221;)\u3001speed (\u76ee\u6807\u901f\u5ea6)\u3001distance (\u884c\u9a76\u8ddd\u79bb)\u3002<br>agent_trajectory (\u5bf9\u8c61): \u6bcf\u4e2a\u4ee3\u7406\u7684\u8f68\u8ff9\u6570\u636e\u3002\u952e\u4e3a\u4ee3\u7406 ID\uff0c\u503c\u4e3a\u6570\u7ec4\uff0c\u6bcf\u4e2a\u5143\u7d20\u662f\u4e00\u4e2a\u5e27\u5bf9\u8c61\uff1a<\/p>\n\n\n\n<p>frame (\u6574\u6570): \u5e27\u7f16\u53f7\uff0c\u4ece 0 \u5230 28\u3002<br>position_x (\u6d6e\u70b9\u6570): \u4f4d\u7f6e x \u5750\u6807\uff08\u53ef\u80fd\u5bf9\u5e94 y \u8f74\u6216\u4e3b\u8981\u8fd0\u52a8\u8f74\uff09\u3002<br>heading (\u6d6e\u70b9\u6570): \u671d\u5411\u89d2\u5ea6\u3002<br>speed (\u6d6e\u70b9\u6570): \u901f\u5ea6\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u6570\u636e\u5904\u7406\">\u6570\u636e\u5904\u7406<\/h2>\n\n\n\n<p>\u6279\u91cf\u63d0\u53d6\u5168\u90e8\u573a\u666f\u6570\u636e\uff0c\u5c06\u6bcf\u4e2a\u573a\u666f\u62c6\u5206\u4e3a\u72ec\u7acb JSON \u6587\u4ef6\u5e76\u6309\u7d22\u5f15\u6709\u5e8f\u547d\u540d\u4fdd\u5b58\uff0c\u5b9e\u73b0\u539f\u59cb\u6570\u636e\u7684<strong>\u6279\u91cf\u62c6\u5206<\/strong>\u4e0e\u72ec\u7acb\u5b58\u50a8\u3002<br>\u4ee5agent_nums=2\u4e3a\u6838\u5fc3\u7b5b\u9009\u6761\u4ef6\uff0c\u5bf9\u6240\u6709\u62c6\u5206\u540e\u7684\u573a\u666f\u6587\u4ef6\u8fdb\u884c\u8fc7\u6ee4<br>\u6b63\u5219\u5339\u914d\uff0c\u4ece\u6709\u6548\u573a\u666f\u7684interaction\u5b57\u6bb5\u4e2d\u63d0\u53d6overtakes\u3001bypasses\u3001yields to\u4e09\u7c7b\u6838\u5fc3\u4ea4\u4e92\u5173\u952e\u8bcd\u4f5c\u4e3a<strong>\u6837\u672c\u6807\u7b7e<\/strong>\uff0c\u751f\u6210\u5305\u542b\u6587\u4ef6\u5e8f\u53f7\u3001\u6587\u4ef6\u540d\u4e0e\u5bf9\u5e94\u6807\u7b7e\u7684\u6c47\u603b\u6587\u4ef6\uff0c\u5b8c\u6210\u6837\u672c\u6807\u7b7e\u7684\u81ea\u52a8\u5316\u6807\u6ce8\u4e0e\u6620\u5c04\u3002<br>\u6e05\u6d17\u6570\u636e\u96c6\uff0c\u4ec5\u4ec5<strong>\u7559\u5b58\u8f68\u8ff9\u6570\u636e<\/strong>\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u9605\u8bfb Trajectory-LLM: A Language-based Data Generator fo [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-276","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/posts\/276","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/comments?post=276"}],"version-history":[{"count":1,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/posts\/276\/revisions"}],"predecessor-version":[{"id":277,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/posts\/276\/revisions\/277"}],"wp:attachment":[{"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/media?parent=276"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/categories?post=276"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.zeronely.cn\/index.php\/wp-json\/wp\/v2\/tags?post=276"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}