构建个性化自动驾驶评测平台,让机器学会像用户本人一样开车。
Driving Like Yourself: A Benchmark for Closed-Loop Personalized End-to-End Autonomous Driving
- 用风格向量量化驾驶行为差异,实现个性化建模。
- 仅微调预测头即可适配用户风格,保持原模型安全与性能。
- 支持真实场景数据采集与多维度评估,适合个性化驾驶研究。
人类驾驶行为具有固有差异性,但现有端到端自动驾驶系统通常学习单一平均驾驶风格,忽视个体差异。实现个性化端到端自动驾驶面临三大挑战:缺乏带个体标注的真实世界数据集、缺乏量化个人驾驶风格的评估指标、以及缺少从用户轨迹中学习风格化表征的算法。为此,我们提出 Person2Drive——一个全面的个性化端到端自动驾驶平台与基准测试。该平台包含开源可扩展的数据采集系统,可模拟真实场景生成多样化个性化驾驶数据;基于风格向量的评估指标,采用最大均值差异(MMD)和KL散度,全面量化个体驾驶行为;以及一个个性化端到端自动驾驶框架,包含风格奖励模型,能高效适配预训练模型以实现安全且个性化的驾驶。关键在于,该框架通过仅微调轨迹预测头即可实现即插即用的个性化,保留预训练基础模型并确保安全性。大量实验表明,Person2Drive 能实现细粒度分析与有效个性化,在复杂场景下仍保持高驾驶成功率与性能。
原文摘要 · Abstract (English)
Human driving behavior is inherently diverse, yet most end-to-end autonomous driving (E2E-AD) systems learn a single average driving style, neglecting individual differences. Achieving personalized E2E-AD faces challenges across three levels: limited real-world datasets with individual-level annotations, a lack of quantitative metrics for evaluating personal driving styles, and the absence of algorithms that can learn stylized representations from users' trajectories. To address these gaps, we propose Person2Drive, a comprehensive personalized E2E-AD platform and benchmark. It includes an open-source, flexible data collection system that simulates realistic scenarios to generate scalable, diverse personalized driving datasets; style vector-based evaluation metrics with Maximum Mean Discrepancy and KL divergence to comprehensively quantify individual driving behaviors; and a personalized E2E-AD framework with a style reward model that efficiently adapts E2E models for safe and individualized driving. Crucially, our framework enables plug-and-play personalization by fine-tuning only the trajectory prediction head, preserving the pretrained base model and ensuring safety. Extensive experiments demonstrate that Person2Drive enables fine-grained analysis and effective personalization, while preserving driving performance and success rate even in challenging scenarios.
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