[自驾] 1. 两套以上独立的自驾系统(备援、冗余) 2. 承1，两套系统可以互相检视比对，一旦发生失效，系统会自行侦测到失效 3. 失效後在人不介入(接管)的条件下仍能保持安全 4. 重新恢复运作需要靠人接管 [辅助] 1. 系统单一 2. 当系统做了错误判断，没有另一套机制，所以系统压根不知道产生错误 3. 系统无法自行侦测失效 4. 全仰赖在驾驶座的驾驶人注意和随时接管 像Waymo这类自驾车 驾驶方式很笨拙，在限定区域的开放道路运行仍有一堆bug问题(卡住、逆向) 这些bug失效无法预期哪时出现，但发生当下系统 1. 能侦测到失效 2. 在人尚未接管下保持安全性 简单讲就是满足失效安全 直到人类接管并恢复运作 Criuse则是辗死前车撞飞的人，即便车能停下但无法确保安全性，被要求需要安全驾驶 FSD会在绝大多数(99.9%)的条件下驾驶方式更接近人类 但机器学习、AI不可能训练到完美(可能喂越多数据反而造成某些场景应对退步) 所以当今天遇到那极低的0.1%情况 系统出错但系统并不认为失效(也没法侦测到失效) 就得全靠驾驶人判断是否要立即介入接管 像是ISO 26262功能安全、ISO 21448预期功能安全(SOTIF)、FIT(Failures In Time) 这些都是政府核准自驾牌照的依据，之前也都提过了 ※ 引述《LimYoHwan (gosu mage)》之铭言： : https://tinyurl.com/bvkhn237 : 简易翻译： : Cruise公司表示,他们将恢复采用有安全驾驶员监督的自动驾驶模式。这是因为他们去年 : 发生的一起无人驾驶事故後,暂时停止了无人驾驶服务,并进行了全面的安全评估。 : 经过评估後,Cruise决定先恢复自动驾驶,但仍然会有安全驾驶员在车内监督。这可以在提 : 供自动驾驶功能的同时保证乘客安全。 : https://i.imgur.com/WVhDrCF.jpeg : Cruise表示,这种监督式自动驾驶模式只是过渡阶段,他们最终的目标仍然是实现完全无人 : 驾驶。此次事故显示,即使是先进的自动驾驶技术,在实际运营中仍需要更谨慎的安全措施 : 。 : 齁，cruise配备这麽多感知设备，一堆光达，也有备援系统，且通过政府法规认证可以运 : 行无人计程车，啊 怎麽车上又放人了，那我可以认为「人」才是备援吗？那些光达根本 : 没屁用….. : 自驾的瓶颈是AI问题还是光达、硬体问题？ : 车版大师表示？ : Starting this week, Cruise AVs will begin supervised autonomous driving in Pho : enix as Cruise takes further steps towards returning to its driverless mission : . : For the past several weeks Cruise has been mapping and collecting road informa : tion in Phoenix. Now, we will validate our AV’s end-to-end behaviors against : our rigorous safety and AV performance requirements. During this phase, the Cr : uise vehicles will drive autonomously with a safety driver present behind the : wheel to monitor and take over if needed. : Supervised autonomous driving is a critical validation phase prior to driverle : ss deployment and builds on our extensive work in simulation, closed-course dr : iving and more than 5 million driverless miles previously driven by our fleet : to ensure safe performance on real-world roads and driving scenarios. Safety d : rivers play an important role in testing the AV’s performance and the continu : ous improvement of our technology. We’ll begin supervised autonomous driving : in the city of Phoenix and will gradually expand to Scottsdale, Paradise Valle : y, Tempe, Mesa, Gilbert and Chandler measured against predetermined safety ben : chmarks. : Safety is the defining principle for everything we do and continues to guide o : ur progress towards resuming driverless operations. From comprehensive vehicle : management before our AVs depart the garage to continuous driver monitoring a : nd roadworthiness of the vehicle, we deploy rigorous safety procedures, protoc : ols and performance requirements to ensure supervised autonomous operations ar : e safe for operation on public roads. : Our safety measures and procedures are multifaceted and can be grouped into th : ree pillars: : Product Safety: Cruise AVs are fully-integrated autonomous vehicles derived fr : om the Chevy Bolt EV platform, manufactured by General Motors, and tested to v : alidate that the vehicles meet all motor vehicle safety requirements after th : e addition and installation of Cruise AV hardware (sensors, etc.). We have pro : cedures in place to ensure our AVs are appropriately maintained and that new s : oftware is thoroughly tested and validated through a measured release process : prior to deploying to the fleet. : Operational Safety: We have documented procedures and protocols in place to en : sure the safety of our fleet operations for those in our vehicles and those we : share the road with, including driver training, ongoing performance managemen : t processes, and responsible scaling of operations. : Enterprise Safety: Safe operations start with a safety-focused culture, and ev : ery worker at Cruise is empowered and responsible for the safety of our produ : ct and operations. We enable safety culture through appropriate governance, po : licies, reporting mechanisms, and regular safety training. : We are committed to partnering with the communities we serve, so whether human : -driven or autonomous, we encourage any community member to report driving con : cerns to our Community Feedback portal. When a concern is submitted, we will i : nvestigate the claim and, as needed, take appropriate action. Our feedback for : m: getcruise.com/support-center : As we continue through this journey, we look forward to working with local com : munities to jointly achieve our shared mission of making transportation safer : for all. --

※ 发信站: 批踢踢实业坊(ptt.cc), 来自: 114.34.222.29 (台湾) ※ 文章网址: https://webptt.com/cn.aspx?n=bbs/car/M.1715682027.A.82B.html ※ 编辑: chandler0227 (114.34.222.29 台湾), 05/14/2024 18:21:35 E2E的确是因为特斯拉才开始广泛被一般民众知道 但毕竟也不是特斯拉首创或独创 E2E背後关键是DRL(深度强化学习)技术 例如几年前的围棋AlphaGo就是用DQN结合蒙地卡罗法 DRL也很早大量应用在自驾感知 (但决策和控制模块) 即便DRL有极大发展潜力，有效解决传统模块分层的诸多问题 但依旧存在实际应用安全跟缺乏可解释性等问题 跟自驾车应用安全相关的： Mobileye提出的RSS(Responsibility-Sensitive Safety)安全模型 Nvidia提出的SFF(Safety Force Field) ※ 编辑: chandler0227 (114.34.222.29 台湾), 05/14/2024 22:14:37