具身智能驾驶：概念、方法、现状与展望

沈甜雨; 李志伟; 范丽丽; 张庭祯; 唐丹丹; 周美华; 刘华平; 王坤峰

doi:10.11959/j.issn.2096-6652.202404

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具身智能驾驶：概念、方法、现状与展望

专题：具身智能和人工智能体之后：基础设施模型与基础智能 | 更新时间：2024-06-05

- 具身智能驾驶：概念、方法、现状与展望
- Embodied intelligent driving: concept, methods, the state of the art and beyond
- 智能科学与技术学报 2024年6卷第1期页码：17-32
- 作者机构：
  
  1.北京化工大学信息科学与技术学院，北京 100029
  2.北京理工大学信息与电子学院，北京 100081
  3.燕山大学信息科学与工程学院，河北秦皇岛 066000
  4.北京同仁医院眼科研究所，北京 100730
  5.清华大学计算机科学与技术系，北京 100084
- 作者简介：
  
  [ "沈甜雨（1996- ），女，博士，北京化工大学信息科学与技术学院副教授，主要研究方向为机器视觉、智能感知与智能机器人系统。" ]
  [ "李志伟（1990- ），男，博士，北京化工大学信息科学与技术学院硕士生导师，主要研究方向为自动驾驶融合感知、视觉语言大模型、智能机器人系统。" ]
  [ "范丽丽（1991- ），女，博士，北京理工大学信息与电子学院博士后，主要研究方向为计算机视觉、跨模态感知与理解、类脑认知与决策。" ]
  [ "张庭祯（2000- ），男，北京化工大学信息科学与技术学院硕士生，主要研究方向为计算机视觉、三维目标检测、平行视觉等。" ]
  [ "唐丹丹（1997- ），女，燕山大学硕士生，主要研究方向为计算机视觉、三维目标检测。" ]
  [ "周美华（2000- ），女，北京同仁医院眼科研究所科研助理，主要研究方向为机器学习、计算机视觉、自动驾驶。" ]
  [ "刘华平（1976- ），男，博士，清华大学计算机科学与技术系教授，国家杰出青年科学基金获得者，主要研究方向为具身感知与学习。" ]
  [ "王坤峰（1982- ），男，博士，北京化工大学信息科学与技术学院教授，主要研究方向为计算机视觉、多模态感知、智能无人系统。" ]
- 基金信息：
  
  国家自然科学基金(62076020;62120106005)
- DOI：10.11959/j.issn.2096-6652.202404
  中图分类号： TP39
- 收稿：2024-02-15，
  
  修回：2024-03-03，
  
  纸质出版：2024-03-15
- 稿件说明：
移动端阅览
沈甜雨, 李志伟, 范丽丽, 等. 具身智能驾驶：概念、方法、现状与展望[J]. 智能科学与技术学报, 2024,6(1):17-32.

SHEN Tianyu, LI Zhiwei, FAN Lili, et al. Embodied intelligent driving: concept, methods, the state of the art and beyond[J]. Chinese Journal of Intelligent Science and Technology, 2024, 6(1): 17-32.
沈甜雨, 李志伟, 范丽丽, 等. 具身智能驾驶：概念、方法、现状与展望[J]. 智能科学与技术学报, 2024,6(1):17-32. DOI： 10.11959/j.issn.2096-6652.202404.

SHEN Tianyu, LI Zhiwei, FAN Lili, et al. Embodied intelligent driving: concept, methods, the state of the art and beyond[J]. Chinese Journal of Intelligent Science and Technology, 2024, 6(1): 17-32. DOI： 10.11959/j.issn.2096-6652.202404.

摘要

具身智能突破了传统人工智能的界限，强调了机器与物理世界交互的重要性，旨在通过促进软硬件一体化智能体的环境适应性学习和智能行为的演化，解决更多智能系统在现实应用中的问题。在这一理念的启发下，提出了具身智能驾驶的概念与框架，将具身智能思想融入自动驾驶汽车的开发与应用中，通过物理智能体、虚拟智能体和真实交通场景之间的持续交互，实现智能系统在复杂交通场景中的精准感知、高效执行、自主进化，提升自动驾驶车辆对复杂开放交通环境的长期适应能力。基于提出的具身智能驾驶框架，进一步总结了其中涉及的核心技术，并剖析了相关技术的发展现状与存在问题。此外，通过探索虚实互动数据智能、基础模型与基础智能、持续学习与平行智能在其中的重要作用和应用潜力，提出了对这一领域的思考与展望。旨在推进具身智能驾驶的系列创新性研究和自动驾驶技术在更广泛场景的应用落地，并为智能车辆等移动机器人系统的发展，提供新的思路和解决方案。

Abstract

Embodied intelligence transcends the boundaries of traditional artificial intelligence by emphasizing the importance of interaction between machines and the physical world

facilitating the development of intelligent entities that combine hardware and software to learn from and adapt to their environments

thereby solving real-world problems. Inspired by this philosophy

the concept and framework of embodied intelligent driving are introduced

aiming at integrating the idea of embodied intelligence into the development and application of autonomous vehicles. Through the continuous interaction between physical agents

virtual agents

and real traffic scenes

intelligent driving systems can achieve precise perception

efficient execution

and autonomous evolution in complex scenes

enhancing the long-term adaptability of autonomous vehicles in open traffic environments. Based on the embodied intelligent driving framework

the relevant technologies are summarize and the development status and existing problems of such technologies are analyzed. Furthermore

thoughts and prospects in this field are demonstrated by exploring the important roles and application potential of virtual-real interactive data intelligence

foundation models and foundation intelligence

continuous learning and parallel intelligence. This paper is expected to promote innovative research and the application on embodied intelligent driving in a wider range of scenarios

and provide new ideas and solutions for the development of mobile robot systems such as intelligent vehicles.

关键词

Keywords

references

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