├── .gitignore ├── LICENSE ├── README.md ├── ch01_基础 ├── 1.1 坐标系 │ ├── 1.1.1 坐标系.md │ └── imgs │ │ ├── 1.1.1.1.jpg │ │ ├── 1.1.1.2.jpg │ │ ├── ecef1.jpg │ │ ├── enu1.jpg │ │ ├── lla1.jpg │ │ ├── utm1.jpg │ │ ├── utm2.jpg │ │ └── utm3.jpg ├── 1.10 强化学习 │ ├── imgs │ │ ├── 1.4.0.jpg │ │ ├── 1.4.1.jpg │ │ ├── 1.4.2.jpg │ │ ├── 1.4.3.jpg │ │ ├── 1.4.4.jpg │ │ ├── 1.4.5.jpg │ │ └── 1.4.6.jpg │ ├── modify_log.txt │ └── readme.md ├── 1.2 参数 │ ├── 1.2.1 相机模型—内参、外参.md │ └── imgs │ │ ├── 1.1.5.1.jpg │ │ ├── 1.1.5.2.jpg │ │ ├── 1.1.5.3.jpg │ │ ├── 1.1.5.4.jpg │ │ └── 1.1.5.5.jpg ├── 1.3 滤波 │ ├── 1.3.1 卡尔曼滤波-KalmanFilter.md │ └── imgs │ │ ├── 1.1.2.1.jpg │ │ ├── 1.1.2.10.jpg │ │ ├── 1.1.2.11.jpg │ │ ├── 1.1.2.12.jpg │ │ ├── 1.1.2.13.jpg │ │ ├── 1.1.2.14.jpg │ │ ├── 1.1.2.15.jpg │ │ ├── 1.1.2.16.jpg │ │ ├── 1.1.2.17.jpg │ │ ├── 1.1.2.18.jpg │ │ ├── 1.1.2.19.jpg │ │ ├── 1.1.2.2.jpg │ │ ├── 1.1.2.3.jpg │ │ ├── 1.1.2.4.jpg │ │ ├── 1.1.2.5.jpg │ │ ├── 1.1.2.6.jpg │ │ ├── 1.1.2.7.jpg │ │ ├── 1.1.2.8.jpg │ │ └── 1.1.2.9.jpg ├── 1.4 图像变换 │ ├── 1.4.1 图像变换介绍.md │ ├── 1.4.2 逆透视变换IPM.md │ └── imgs │ │ ├── 1.1.6.1.0.jpg │ │ ├── 1.1.6.1.5.jpg │ │ ├── 1.1.6.1.6.jpg │ │ ├── 1.1.6.2.1.jpg │ │ ├── 1.1.6.2.10.jpg │ │ ├── 1.1.6.2.2.jpg │ │ ├── 1.1.6.2.3.jpg │ │ ├── 1.1.6.2.4.jpg │ │ ├── 1.1.6.2.5.jpg │ │ ├── 1.1.6.2.6.jpg │ │ ├── 1.1.6.2.7.jpg │ │ ├── 1.1.6.2.8.jpg │ │ └── 1.1.6.2.9.jpg ├── 1.5 三维重建 │ ├── 1.5.1 NeRF │ │ ├── imgs │ │ │ ├── 1.1.1.0_.jpg │ │ │ ├── 1.1.1.10_.jpg │ │ │ ├── 1.1.1.11_.jpg │ │ │ ├── 1.1.1.12_.jpg │ │ │ ├── 1.1.1.13_.jpg │ │ │ ├── 1.1.1.14_.jpg │ │ │ ├── 1.1.1.15_.jpg │ │ │ ├── 1.1.1.16_.jpg │ │ │ ├── 1.1.1.17_.jpg │ │ │ ├── 1.1.1.18_.jpg │ │ │ ├── 1.1.1.19_.jpg │ │ │ ├── 1.1.1.1_.jpg │ │ │ ├── 1.1.1.20_.jpg │ │ │ ├── 1.1.1.21_.jpg │ │ │ ├── 1.1.1.2_.jpg │ │ │ ├── 1.1.1.3_.jpg │ │ │ ├── 1.1.1.4_.jpg │ │ │ ├── 1.1.1.5_.jpg │ │ │ ├── 1.1.1.6_.jpg │ │ │ ├── 1.1.1.7_.jpg │ │ │ ├── 1.1.1.8_.jpg │ │ │ └── 1.1.1.9_.jpg │ │ └── readme.md │ ├── imgs │ │ └── 1.gif │ └── readme.md ├── 1.6 数据集 │ ├── 1.6.1 Argoverse.md │ ├── 1.6.2 nuScenes.md │ ├── imgs │ │ ├── 1.2.2.1.jpg │ │ ├── 1.2.2.2.jpg │ │ ├── 1.2.2.3.jpg │ │ ├── 1.2.2.4.jpg │ │ ├── 1.2.2.5.jpg │ │ ├── 1.2.2.6.jpg │ │ ├── 1.2.2.7.jpg │ │ ├── 1.2.2.8.jpg │ │ └── 1.6.1.1.jpg │ └── modify_log.txt ├── 1.7 Transformer │ ├── imgs │ │ ├── 1.1.4.1.jpg │ │ ├── 1.1.4.10.jpg │ │ ├── 1.1.4.11.jpg │ │ ├── 1.1.4.2.jpg │ │ ├── 1.1.4.3.jpg │ │ ├── 1.1.4.4.jpg │ │ ├── 1.1.4.5.jpg │ │ ├── 1.1.4.6.jpg │ │ ├── 1.1.4.7.jpg │ │ ├── 1.1.4.8.jpg │ │ └── 1.1.4.9.jpg │ └── readme.md ├── 1.8 NLP自然语言处理 │ ├── imgs │ │ ├── 1.3.1.gif │ │ ├── 1.3.2.gif │ │ ├── 1.3.3.jpg │ │ ├── 1.3.4.jpg │ │ ├── 1.3.5.jpg │ │ ├── 1.3.6.jpg │ │ ├── 1.3.7.jpg │ │ └── 1.3.8.jpg │ ├── modify_log.txt │ └── readme.md ├── 1.9 神经网络结构搜索(NAS) │ ├── imgs │ │ └── 1.9.1.jpg │ └── readme.md └── modify_log.txt ├── ch02_硬件 ├── 2.1 传感器 │ ├── 2.1.1 摄像头.md │ ├── 2.1.2 激光雷达.md │ ├── 2.1.3 毫米波雷达.md │ ├── 2.1.4 超声波雷达.md │ ├── 2.1.5 GPS定位导航.md │ ├── 2.1.6 IMU惯性传感器.md │ ├── README.md │ ├── imgs │ │ ├── 2.1.1.1.jpg │ │ ├── 2.1.1.2.jpg │ │ ├── 2.1.1.3.jpg │ │ ├── 2.1.1.4.jpg │ │ ├── 2.1.1.5.jpg │ │ ├── 2.1.1.6.jpg │ │ ├── 2.1.1.jpg │ │ ├── 2.1.2.1.jpg │ │ ├── 2.1.2.10.jpg │ │ ├── 2.1.2.11.jpg │ │ ├── 2.1.2.2.jpg │ │ ├── 2.1.2.3.jpg │ │ ├── 2.1.2.4.jpg │ │ ├── 2.1.2.5.jpg │ │ ├── 2.1.2.6.jpg │ │ ├── 2.1.2.7.jpg │ │ ├── 2.1.2.8.jpg │ │ ├── 2.1.2.9.jpg │ │ ├── 2.1.3.1.jpg │ │ ├── 2.1.3.2.jpg │ │ ├── 2.1.3.3.jpg │ │ ├── 2.1.4.1.jpg │ │ ├── 2.1.4.2.jpg │ │ ├── 2.1.4.3.jpg │ │ ├── 2.1.4.4.jpg │ │ ├── 2.1.4.5.jpg │ │ ├── 2.1.4.6.jpg │ │ ├── 2.1.4.7.jpg │ │ ├── 2.1.4.8.jpg │ │ ├── 2.1.4.9.jpg │ │ ├── 2.1.5.1.jpg │ │ ├── 2.1.5.2.jpg │ │ ├── 2.1.5.3.jpg │ │ ├── 2.1.5.4.jpg │ │ ├── 2.1.6.1.jpg │ │ ├── 2.1.6.2.jpg │ │ ├── 2.1.6.3.jpg │ │ ├── 2.1.6.4.jpg │ │ └── 2.1.6.5.jpg │ └── modify_log.txt ├── 2.2 计算单元 │ ├── README.md │ ├── imgs │ │ ├── 2.2.1.jpg │ │ ├── 2.2.2.jpg │ │ └── 2.2.3.jpg │ └── modify_log.txt ├── 2.3 辅助单元 │ ├── 2.3.1 V2X.md │ ├── 2.3.2 黑匣子.md │ ├── imgs │ │ └── 2.3.1.1.jpg │ └── modify_log.txt ├── 2.4 传感器标定 │ ├── 2.4.1 内参标定 │ │ ├── 2.4.1.1 相机内参标定.md │ │ ├── 2.4.1.2 张正友相机标定法.md │ │ └── imgs │ │ │ └── 2.4.1.1.1.jpg │ ├── 2.4.2 外参标定 │ │ ├── 2.4.2.1 离线标定.md │ │ ├── 2.4.2.2 在线标定.md │ │ ├── imgs │ │ │ ├── 2.4.2.1.jpg │ │ │ ├── 2.4.2.2.jpg │ │ │ ├── 2.4.2.3.jpg │ │ │ ├── 2.4.2.4.jpg │ │ │ ├── 2.4.2.5.jpg │ │ │ ├── 2.4.2.6.jpg │ │ │ └── 2.4.2.7.jpg │ │ ├── modify_log.txt │ │ └── readme.md │ ├── imgs │ │ ├── 2.4.1.1.jpg │ │ ├── 2.4.1.2.jpg │ │ ├── 2.4.1.3.jpg │ │ ├── 2.4.1.4.jpg │ │ ├── 2.4.1.5.jpg │ │ └── 2.4.1.6.jpg │ ├── modify_log.txt │ └── readme.md ├── README.md ├── imgs │ └── 2.1.jpg └── modify_log.txt ├── ch03_感知 ├── 3.1 2D目标检测 │ ├── 3.1.1 车道线检测.md │ ├── 3.1.2 2D目标检测.md │ ├── imgs │ │ ├── 3.1.1.1.jpg │ │ ├── 3.1.1.10.jpg │ │ ├── 3.1.1.2.jpg │ │ ├── 3.1.1.3.jpg │ │ ├── 3.1.1.4.jpg │ │ ├── 3.1.1.5.jpg │ │ ├── 3.1.1.6.jpg │ │ ├── 3.1.1.7.jpg │ │ ├── 3.1.1.8.jpg │ │ ├── 3.1.1.9.jpg │ │ ├── 3.1.2.1.jpg │ │ ├── 3.1.2.2.jpg │ │ ├── 3.1.2.3.jpg │ │ ├── 3.1.2.4.jpg │ │ ├── 3.1.2.5.jpg │ │ └── 3.1.2.6.jpg │ └── modify_log.txt ├── 3.2 3D目标检测 │ ├── 3.2.1 基于LiDAR的3D目标检测 │ │ ├── imgs │ │ │ ├── 3.2.1.1.jpg │ │ │ ├── 3.2.1.10.jpg │ │ │ ├── 3.2.1.12.jpg │ │ │ ├── 3.2.1.13.jpg │ │ │ ├── 3.2.1.2.jpg │ │ │ ├── 3.2.1.3.jpg │ │ │ ├── 3.2.1.4.jpg │ │ │ ├── 3.2.1.5.jpg │ │ │ ├── 3.2.1.6.jpg │ │ │ ├── 3.2.1.7.jpg │ │ │ ├── 3.2.1.8.jpg │ │ │ └── 3.2.1.9.jpg │ │ ├── modify_log.txt │ │ └── readme.md │ ├── 3.2.2 基于摄像头的3D目标检测 │ │ ├── imgs │ │ │ ├── 3.2.2.1.jpg │ │ │ ├── 3.2.2.10.jpg │ │ │ ├── 3.2.2.11.jpg │ │ │ ├── 3.2.2.12.jpg │ │ │ ├── 3.2.2.13.jpg │ │ │ ├── 3.2.2.14.jpg │ │ │ ├── 3.2.2.15.jpg │ │ │ ├── 3.2.2.16.jpg │ │ │ ├── 3.2.2.17.jpg │ │ │ ├── 3.2.2.2.jpg │ │ │ ├── 3.2.2.3.jpg │ │ │ ├── 3.2.2.4.jpg │ │ │ ├── 3.2.2.5.jpg │ │ │ ├── 3.2.2.6.jpg │ │ │ ├── 3.2.2.7.jpg │ │ │ ├── 3.2.2.8.jpg │ │ │ └── 3.2.2.9.jpg │ │ ├── modify_log.txt │ │ └── readme.md │ ├── imgs │ │ ├── 3.2.1.jpg │ │ └── 3.2.2.jpg │ ├── modify_log.txt │ └── readme.md ├── 3.3 BEV │ ├── 3.3.1 LSS.md │ ├── README.md │ ├── imgs │ │ ├── 3.3.1.jpg │ │ ├── 3.3.2.jpg │ │ ├── 3.3.3.jpg │ │ ├── 3.3.4.jpg │ │ ├── 3.3.5.jpg │ │ ├── 3.3.6.jpg │ │ ├── 3.3.7.jpg │ │ └── 3.3.8.jpg │ └── modify_log.txt ├── 3.4 Occupany Network │ ├── 3.4.1 SurroundOcc.md │ ├── imgs │ │ ├── 3.4.2.0.jpg │ │ ├── 3.4.2.1.jpg │ │ ├── 3.4.2.2.jpg │ │ ├── 3.4.2.3.jpg │ │ ├── 3.4.2.4.jpg │ │ ├── 3.4.2.5.jpg │ │ ├── 3.4.2.6.jpg │ │ ├── 3.4.2.7.jpg │ │ ├── 3.4.2.8.jpg │ │ └── 3.4.2.9.jpg │ ├── modify_log.txt │ └── readme.md └── modify_log.txt ├── ch04_定位 ├── modify_log.txt └── readme.md ├── ch05_策略规划 ├── 5.1 预测 │ ├── 5.1.1 基于车道序列的预测.md │ ├── imgs │ │ ├── 4.1.1.1.jpg │ │ ├── 4.1.1.2.jpg │ │ ├── 4.1.1.3.jpg │ │ ├── 4.1.1.4.jpg │ │ ├── 4.1.1.5.jpg │ │ ├── 4.1.1.6.jpg │ │ ├── 4.1.1.7.jpg │ │ ├── 4.1.1.jpg │ │ └── 4.1.2.jpg │ ├── modify_log.txt │ └── readme.md ├── 5.2 路线规划 │ ├── README.md │ ├── imgs │ │ ├── 4.2.1.jpg │ │ ├── 4.2.2.jpg │ │ ├── 4.2.3.jpg │ │ ├── 4.2.4.jpg │ │ ├── 4.2.5.jpg │ │ ├── 4.2.6.jpg │ │ ├── 4.2.7.jpg │ │ └── 4.2.8.jpg │ └── modify_log.txt ├── 5.3 轨迹规划 │ ├── 5.3.1 笛卡尔坐标下的规划.md │ ├── 5.3.2 Lattice规划.md │ ├── imgs │ │ ├── 4.3.1.1.jpg │ │ ├── 4.3.1.2.jpg │ │ ├── 4.3.1.3.jpg │ │ ├── 4.3.1.4.jpg │ │ ├── 4.3.1.5.jpg │ │ ├── 4.3.2.1.jpg │ │ ├── 4.3.2.2.jpg │ │ ├── 4.3.2.3.jpg │ │ ├── 4.3.2.4.jpg │ │ ├── 4.3.2.5.jpg │ │ ├── 4.3.2.6.jpg │ │ └── 4.3.2.7.jpg │ ├── modify_log.txt │ └── readme.md ├── README.md └── modify_log.txt ├── ch06_控制 ├── 6.1 PID控制.md ├── 6.2 线性二次调节器(LQR).md ├── 6.3 模型控制预测(MPC).md ├── imgs │ ├── 5.1.1.jpg │ ├── 5.1.2.jpg │ ├── 5.1.3.jpg │ ├── 5.1.jpg │ ├── 5.2.1.jpg │ ├── 5.2.2.jpg │ ├── 5.2.3.jpg │ ├── 5.2.4.jpg │ ├── 5.2.5.jpg │ ├── 5.3.1.jpg │ └── 5.3.2.jpg ├── modify_log.txt └── readme.md ├── ch07_产品 ├── 7.1 ADAS │ ├── README.md │ ├── imgs │ │ ├── 6.1.1.jpg │ │ └── 6.1.2.jpg │ └── modify_log.txt └── 7.2 DMS │ ├── README.md │ ├── imgs │ ├── 6.2.1.jpg │ └── 6.2.2.jpg │ └── modify_log.txt ├── ch08_工具 ├── 8.1 可视化 │ └── 8.1.1 AVS（Autonomous Visualization System） │ │ ├── modify_log.txt │ │ └── readme.md ├── 8.2 仿真 │ └── 8.2.1 Carla仿真 │ │ ├── modify_log.txt │ │ └── readme.md ├── 8.3 TensorRT加速 │ ├── 8.3.1 TensorRT安装配置.md │ ├── 8.3.2 TensorRT加速原理.md │ ├── 8.3.3 TensorRT源码分析.md │ ├── imgs │ │ ├── 7.3.1.1.jpg │ │ ├── 7.3.2.1.jpg │ │ ├── 7.3.2.10.jpg │ │ ├── 7.3.2.11.jpg │ │ ├── 7.3.2.12.jpg │ │ ├── 7.3.2.2.jpg │ │ ├── 7.3.2.3.jpg │ │ ├── 7.3.2.4.jpg │ │ ├── 7.3.2.5.jpg │ │ ├── 7.3.2.6.jpg │ │ ├── 7.3.2.7.jpg │ │ ├── 7.3.2.8.jpg │ │ ├── 7.3.2.9.jpg │ │ ├── 7.3.3.1.jpg │ │ ├── 7.3.3.2.jpg │ │ ├── 7.3.3.3.jpg │ │ ├── 7.3.3.4.jpg │ │ └── 7.3.3.5.jpg │ └── readme.md ├── 8.4 SNPE │ ├── 8.4.1 Snapdragon NPE Runtime.md │ ├── 8.4.2 AIP Runtime.md │ ├── imgs │ │ └── 7.4.1.jpg │ └── readme.md └── modify_log.txt ├── ch09_厂商方案 ├── 9.1 特斯拉 AI Day2022 │ ├── 9.1.1 路径以及运动规划算法.md │ ├── 9.1.2 环境感知算法.md │ ├── 9.1.3 训练算法、设施、软件.md │ ├── 9.1.4 数据标注、采集、虚拟化.md │ ├── README.md │ ├── imgs │ │ ├── 8.1.1.1.gif │ │ ├── 8.1.1.2.jpg │ │ ├── 8.1.1.3.jpg │ │ ├── 8.1.1.jpg │ 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