为自动驾驶设计安全识别未知道路物体的新感知层

A closed-set detector for autonomous driving must assign every object one of a fixed set of labels. On an object outside that set (a horse-drawn carriage, road debris, livestock on a rural road) it can only force a confident but wrong specific label or drop the object. Prior work in this series replaced the flat label set with a hierarchical taxonomy and a runtime abstraction rule, but evaluated it only on the boxes a closed detector already produces. This paper takes the layer open-world: we place taxonomic abstraction on top of class-agnostic region proposals so objects the closed detector never boxes can still be classified or flagged; we report a feasibility study of three open-world signals (class-agnostic segmentation, appearance-based out-of-distribution scoring, monocular depth) that shows why no single 2D cue suffices and how they compose; and we run the evaluation the earlier papers could not, a ground-truth leave-classes-out benchmark on real annotated objects. Holding out seven COCO classes and classifying their 235 ground-truth crops, a flat closed head emits a confident wrong specific label 100% of the time (37% of them in the wrong super-category, e.g. an animal named as a vehicle), whereas the hierarchical layer emits zero confident wrong specific labels and safely handles 94% of the objects (a correct super-category, or an explicit UNKNOWN OBSTACLE). We are explicit that this is a safety result, not a specificity one: the correct super-category is recovered only 26% of the time and the remaining 69% are conservatively flagged unknown. The contribution is an open-world perception layer that never makes a confident categorical mistake on an out-of-vocabulary object, together with an honest account of its cost.