arXiv:2512.19150cs.CV2025-12被引 6

让自动驾驶地图提前‘看路’,提升前方预测精度。

AMap: Distilling Future Priors for Ahead-Aware Online HD Map Construction

  • 用未来信息训练模型,让当前帧具备前瞻能力。
  • 在nuScenes和Argoverse 2上显著提升前方区域地图精度。
  • 无需额外计算,适合实时在线高精地图构建。

在线高精地图构建对自动驾驶至关重要。现有方法依赖历史时序融合,但存在根本缺陷:本质上是‘向后看’,仅改善已行驶区域的重建,对前方未知道路帮助甚微。我们分析发现,后方感知误差可容忍,而前方错误直接导致危险驾驶行为。为此,提出AMap框架,开创‘从未来中提炼’的新范式:教师模型利用未来时序上下文,指导仅能访问当前帧的学生模型。该过程将前瞻性知识压缩至学生模型,使其零开销实现‘前视’能力。技术上引入多层级BEV蒸馏与空间掩码、非对称查询适配模块,有效迁移未来感知表征。在nuScenes和Argoverse 2基准上的实验表明,AMap显著提升当前帧感知性能,尤其在关键前方区域超越现有时序模型,同时保持单帧推理效率。

原文摘要 · Abstract (English)

Online High-Definition (HD) map construction is pivotal for autonomous driving. While recent approaches leverage historical temporal fusion to improve performance, we identify a critical safety flaw in this paradigm: it is inherently ``spatially backward-looking." These methods predominantly enhance map reconstruction in traversed areas, offering minimal improvement for the unseen road ahead. Crucially, our analysis of downstream planning tasks reveals a severe asymmetry: while rearward perception errors are often tolerable, inaccuracies in the forward region directly precipitate hazardous driving maneuvers. To bridge this safety gap, we propose AMap, a novel framework for Ahead-aware online HD Mapping. We pioneer a ``distill-from-future" paradigm, where a teacher model with privileged access to future temporal contexts guides a lightweight student model restricted to the current frame. This process implicitly compresses prospective knowledge into the student model, endowing it with ``look-ahead" capabilities at zero inference-time cost. Technically, we introduce a Multi-Level BEV Distillation strategy with spatial masking and an Asymmetric Query Adaptation module to effectively transfer future-aware representations to the student's static queries. Extensive experiments on the nuScenes and Argoverse 2 benchmark demonstrate that AMap significantly enhances current-frame perception. Most notably, it outperforms state-of-the-art temporal models in critical forward regions while maintaining the efficiency of single current frame inference.

高精地图前瞻感知模型蒸馏自动驾驶

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