TruckDrive：远程自动驾驶高速公路驾驶数据集
TruckDrive: Long-Range Autonomous Highway Driving Dataset
该数据集提供了长达1000米的2D检测和400米的3D检测基准，可用于评估和开发面向长距离感知的模型，特别是融合LiDAR、相机和4D雷达的多模态方法，以解决现有模型在150米外性能骤降的问题。
原文依据 We find that state-of-the-art autonomous driving models do not generalize to ranges beyond 150 meters, with drops between 31% and 99% in 3D perception tasks
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论重型卡车的安全高速公路自动驾驶仍是一个开放且未解决的挑战：由于制动距离长，需要理解数百米范围内的场景以进行预见性规划并保证安全制动余量。然而，现有的驾驶数据集主要覆盖城市场景，感知范围实际上仅限于100米以内的短距离。为填补这一空白，我们推出了TruckDrive，一个高速公路规模的多模态驾驶数据集，使用专为远程感知设计的传感器套件采集：七个测量距离和径向速度的远程FMCW LiDAR、三个高分辨率短程LiDAR、十一个具有不同焦距的8MP环视相机和十个4D FMCW雷达。该数据集提供47.5万个样本，其中16.5万帧密集标注，用于驾驶感知基准测试，支持长达1000米的2D检测和400米的3D检测、深度估计、跟踪、规划以及基于20秒高速公路速度序列的端到端驾驶。我们发现，最优的自动驾驶模型无法泛化到150米以外的范围，在3D感知任务中性能下降31%至99%，暴露出当前架构和训练信号无法弥合的系统性远程差距。
英文原文摘要 1263 字符
Safe highway autonomy for heavy trucks remains an open and unsolved challenge: due to long braking distances, scene understanding of hundreds of meters is required for anticipatory planning and to allow safe braking margins. However, existing driving datasets primarily cover urban scenes, with perception effectively limited to short ranges of only up to 100 meters. To address this gap, we introduce TruckDrive, a highway-scale multimodal driving dataset, captured with a sensor suite purpose-built for long range sensing: seven long-range FMCW LiDARs measuring range and radial velocity, three high-resolution short-range LiDARs, eleven 8MP surround cameras with varying focal lengths and ten 4D FMCW radars. The dataset offers 475 thousands samples with 165 thousands densely annotated frames for driving perception benchmarking up to 1,000 meters for 2D detection and 400 meters for 3D detection, depth estimation, tracking, planning and end to end driving over 20 seconds sequences at highway speeds. We find that state-of-the-art autonomous driving models do not generalize to ranges beyond 150 meters, with drops between 31% and 99% in 3D perception tasks, exposing a systematic long-range gap that current architectures and training signals cannot close.