假如你今年有买车的打算，现在有两台配置 几乎 一模一样 的车，价格也在预算范围。唯一的不同，就是其中一台辅助驾驶的功能。你愿意为这个多出来的功能花多少钱呢？

根据辅助驾驶实现的功能高低不同，这个市场价大约是几千到几万块，但很有可能大部分用户的答案是：0。也就是说，直接选择没有配置辅助驾驶的、更便宜的车。我完全理解这样的选择，因为现在就算好用的高阶辅助驾驶，大多有点鸡肋，只能在有高精度地图的区域使用，而高精度地图覆盖的区域又不多，这点儿为数不多的体验，不买单显然是比较理性的选择。

高精度地图曾经是各方争夺的关键资源。但今年，华为率先站出来说，它的城市辅助驾驶技术，不再依赖高精度地图了。

(资料图片)

那么高精度地图是什么？为什么当初做自动驾驶的企业会选高精度地图这条技术路线？现在又为什么被放弃了？

Part 1

缘起

高精度地图是一种精度可达厘米级的电子地图，相比之下，传统电子导航地图精度为米级。高精度地图包含了更多的信息：

车道模型 ：自动驾驶系统描述车道间拓扑关系，包括车道基准线、车道连接点、车道交通类型、车道功能类型，像普通车道、行车道、超车道、辅助车道等类型； 车道功能类型定义 ，比如有 公交车道、HOV车道、潮汐车道等类型。

道路部件 ：包括路面标线类和道路设施，路面横纵向标线、标线类型，标线颜色、标线材质，清晰程度等。

道路属性 ：包含车道类型的属性和路侧呈现设备属性，包含车道数量、类型、坡度、曲率、航向、高程、侧倾等信息。

道路环境特征 ：比如交通信号灯、交通标志、地标性建筑等。

高精度地图提供 超视距环境感知能力 以及提供 车道级别最优路径规划 。 因此，高精度地图在高级别的辅助驾驶中，可以实现更可靠的融合高精定位。

● 高精度地图怎么生成的

曾经，激光雷达和高精度地图是天生一对——Google旗下的Waymo率先开始研究自动驾驶技术，就是利用激光雷达制作高精度地图。激光雷达输出的点云数据，将每帧的数据拼接起来，从而建立整个场景的点云地图，然后在拼接好的点云地图基础上，标注出车道线信息、交通标志信息、红绿灯信息等，最后得出道路的结构化信息。

从高精地图的生成方式就可以看出，这是一件数据量很大的工作，尤其一开始这些标注都是靠人工手动，后来改为效率更高的自动标注，但工作量并不会减少。所以高精度地图一般只在封闭的路段提供，而且只是部分路段。

车企一般会选择直接购买图商提供的地图，欧洲三大车企戴姆勒、宝马和奥迪就斥资 25亿欧元收购诺基亚地图服务Here。

曾经，除了特斯拉之外，所有的玩家都觉得激光雷达是高精度地图的必需品：

◎ Waymo使用高精度地图和激光雷达+定位做匹配

◎ 传统汽车企业使用高精度地图做匹配，让L2级别的辅助驾驶可以做到脱手操作，比如通用汽车的Super Cruise

在中国，以小鹏汽车为代表的新势力车企，在自动驾驶技术上迎头赶上。他们在国内首先将高精度地图与激光雷达技术相结合，取得了显著的成果。

● 特斯拉对高精度地图的不同看法

然而，特斯拉凭借Tranfomer 模型取得重要突破，在两次AI Day上展示了令人惊叹的技术潜力。

特斯拉使用纯视觉 、多视图的方案，把摄像头捕捉到的视觉信息融合在一起，让他的车能更好地理解周围的环境。

为了更准确地描述道路上的车道线和其他关键点之间的关系，特斯拉还会阅读地图上的文字描述，然后用Tranfomer 模型 把这些信息融入到自动驾驶的视觉系统中。这让系统不仅能找到车道线、人行横道线等地图元素，还能了解更多车辆行驶所需的信息，提高定位准确性。

特斯拉还能把不同类型的数据翻译成同一种语言，让他们在同一个“语义空间”中对话，然后用Tranfomer 模型 让他们相互学习，获得更丰富的信息。这里本质上也是建立了高精度地图，但不同于 之前的地图，这是一种局部、实时构建高精度地图，这种方式更有效率，可以降低制作成本、提高使用便利性和能够实时更新。

Part 2

城市战场

随着自动驾驶技术的普及，全球各大车企开始将竞争从高速场景转向城市自动驾驶场景。传统的高精度地图制图方式，开始赶不上新的需求了。特斯拉的技术优势开始凸显，而中国汽车企业也紧随其后。

● 高精度地图技术的突破

传统的高精地图想要全面铺开使用，难度非常大。第一是因为高精度地图要覆盖全国，范围太大，很多道路使用频度不高，因此用标注的方式去生成地图，不知道什么时候才能收回成本。 另一个问题是城市场景对高精地图的鲜度 要求很高，国内的道路几乎实时在变动，传统制作高精度地图的方法是没办法满足鲜度要求，所以需要局部实时构建高精度地图的技术，就成为实现城市辅助驾驶的关键。

高精度地图的鲜度（Freshness）指的是地图数据的实时性和更新频率。 随着道路状况、交通标志、建筑物等地理环境不断发生变化，高精度地图的准确性和可靠性可能会受到影响。 因此， 为了确保地图数据的准确性和可靠性，需要定期更新地图，使其保持新鲜状态。

简而言之，地图鲜度是衡量高精度地图数据是否保持最新状态的一个重要指标。更新频率越高，地图的鲜度就越好，用户在导航、自动驾驶等方面的体验也就越好。

◎ 小鹏在第二代智能辅助驾驶系统 XNGP 中逐步摆脱高精地图的依赖，今年 3 月底推送的第一阶段能力，已经在全国无精度地图城市部分解锁了 NGP：

- 2023 年上半年，城市 NGP 发布，支持广州、深圳、上海；全国范围（所有无图城市）开放识别红绿灯并直行通过路口能力

- 2023 年下半年，大部分无图城市开放变道、超车、左右转能力

- 2024 年上半年，全场景打通，实现从车位到车位的智能导航辅助驾驶能力

◎ 2023华为智能汽车解决方案发布会上，华为发布了高阶智能驾驶系统ADS 2.0，宣布不再依赖高精地图。同时，公布了一项激进计划：今年第三季度将在15城落地，第四季度扩大至45城。搭载HUAWEI ADS 2.0系统的汽车，都可以实现城区的辅助驾驶。

HUAWEI ADS 1.0已实现基于Transformer的BEV架构，而HUAWEI ADS 2.0进一步升级，基于道路拓扑推理网络进一步增强，即使无 （传统） 高精地图也能看懂路，红绿灯等各种道路元素。

● 合作与竞争

可以看出，所谓“无图”指的就是不再依赖传统的高精度地图，那以前的高精度地图还能用吗？

目前来看传统的高精度地图有点像自动驾驶的轮椅，过分依赖高精地图会让自动驾驶系统变得极其脆弱，普及起来更加困难，所以目前大家都在尝试从这个轮椅上站起来。智能辅助驾驶后续的发展路线，将会在高速等有地图的路段，继续使用高精度地图，而在无图的路面，采用实时构建高精度地图的模式。从而逐渐减少对传统高精地图的依赖。

Part 3

未来之路

自动辅助驾驶技术正在改变我们的出行方式。技术路线的竞争如火如荼，已经从高速公路的较量进入了城市驾驶的新战场。特斯拉引领着时代的潮流。中国汽车企业也紧随其后。

高精度地图并未真正消失，它仅是从传统标注的方式蜕变为实时局部的高精度地图。真正消失的，是传统的高精度地图生成方法。用Tranfomer 模型+BEV架构生成的高精度地图，能够更加迅速地更新，适应各种场景的需求。这是在大数据计算能力和创新方法的基础上所实现的技术突破，为自动辅助驾驶的不断改进提供了强大的推动力。

微信群友就不太看好理想——这里称他为笑老师吧——他宣称，如果理想汽车今年的销量能超过18万辆，他要在我们的微信群发2万块钱红包。还说，如果理想汽车今年四月到明年三月底的销量超过35万辆，他就让我们群所有人一起出去旅游，他给报销！"}}},"align":"","folded":false}},"Nwmkd6coQoy8wqxOmj4cqbgsnfK":{"id":"Nwmkd6coQoy8wqxOmj4cqbgsnfK","snapshot":{"type":"text","parent_id":"Y1MBd2kgfob3jtxIJu0coz54nuh","comments":[],"locked":false,"hidden":false,"author":"7165701652744388612","children":[],"text":{"apool":{"nextNum":2,"numToAttrib":{"0":["textHighlightBackground","rgba(255,246,122,0.8)"],"1":["author","7165701652744388612"]}},"initialAttributedTexts":{"attribs":{"0":"*1*0+4"},"text":{"0":"微信截图"}}},"align":"","folded":false}},"PA6Gd4kikoacGKx0O53c8WmXnsd":{"id":"PA6Gd4kikoacGKx0O53c8WmXnsd","snapshot":{"type":"text","parent_id":"Y1MBd2kgfob3jtxIJu0coz54nuh","comments":[],"locked":false,"hidden":false,"author":"6971774723940253697","children":[],"text":{"apool":{"nextNum":1,"numToAttrib":{"0":["author","6971774723940253697"]}},"initialAttributedTexts":{"attribs":{"0":"*0+28"},"text":{"0":"说实话，这事给我带来很多困扰，因为突然很多人申请要加我们的群，可能是想为明年的免费旅游占个名额。但我不想给笑老师带来太多负担，所以好多进群申请都没同意【狗头】。"}}},"align":"","folded":false}},"Dss8dmgwWoG66ExIVrlceI0Tnue":{"id":"Dss8dmgwWoG66ExIVrlceI0Tnue","snapshot":{"type":"text","parent_id":"Y1MBd2kgfob3jtxIJu0coz54nuh","comments":[],"locked":false,"hidden":false,"author":"6971774723940253697","children":[],"text":{"apool":{"nextNum":0,"numToAttrib":{}},"initialAttributedTexts":{"attribs":{"0":""},"text":{"0":""}}},"align":"","folded":false}},"MK6MdoeoQoGqGCxMDFnctvEZn1c":{"id":"MK6MdoeoQoGqGCxMDFnctvEZn1c","snapshot":{"type":"text","parent_id":"Y1MBd2kgfob3jtxIJu0coz54nuh","comments":[],"locked":false,"hidden":false,"author":"6971759096890392604","children":[],"text":{"apool":{"nextNum":2,"numToAttrib":{"0":["author","6971759096890392604"],"1":["author","6971774723940253697"]}},"initialAttributedTexts":{"attribs":{"0":"*0+2*1+2*0+9*1+3*0+c*1+h*0+g*1+2*0+5"},"text":{"0":"那么多卖中大型和大型SUV的车企，为什么理想能一骑绝尘，为什么笑老师又不看好呢？理想的市场是存量还是增量？我们本期视频就来浅浅讨论一下。"}}},"align":"","folded":false}},"MwEAd6QsAocwakxCMQTcVjhNnpg":{"id":"MwEAd6QsAocwakxCMQTcVjhNnpg","snapshot":{"type":"text","parent_id":"Y1MBd2kgfob3jtxIJu0coz54nuh","comments":[],"locked":false,"hidden":false,"author":"6971759096890392604","children":[],"text":{"apool":{"nextNum":2,"numToAttrib":{"0":["textHighlightBackground","rgba(255,246,122,0.8)"],"1":["author","7165701652744388612"]}},"initialAttributedTexts":{"attribs":{"0":"*1*0+d"},"text":{"0":"中大型Suv 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