雨课堂学堂在线学堂云《智能车辆机器学习技术（北京理工）》单元测试考核答案

第1题Duringthe8thFive-Yearperiod____,China’sfirstautonomousvehicle____isdeveloped.正确答案：:1991-1995正确答案：:ATB-1第2题DriveGPTcombines____andautonomousdrivingtodoend-to-endlearning.正确答案：:GPT第3题Exceptfordrivingontheurbanroads,somecompaniesaretryingtosolvetheproblemofautonomousdrivingincampus,airportandsoon.()第4题SimilartotheGrandandUrbanchallengesheldbyDARPA,thefirst“IntelligentVehicleFutureChallenge()”washostedbyNationalNaturalScienceFoundationofChina()in2009.()第5题Manyfamouscontrolmethodsforautonomousdriving,likeStanleymethod,weredevelopedinDemo’97.()第6题Manyresearchersinautonomousdrivingcommunitymentionthe1939WorldFairasthefirstexhibitofself-drivingcars.()第7题Theautonomousvehiclenamed“Stanley”builtbytheStanforduniversitywonthechampionshipinthesecondGrandchallenge.()第8题Forglobaldecisionmakingandpathplanning,thesystemneedstodeterminethedestinationandthenfindawaytothedestinationfromthecurrentposition.()第9题Theend-to-endlearningmethodstrictlyfollowsthreetasks:environmentalperception,decisionmakingandplanning,motioncontrol.()第10题Level4meansnoautonomy,thevehicleshouldbecontrolledtotallybythedriver.()第11题AccordingtoSAE,thelevelofautonomycanbeclassifiedinto6levels,fromlevel0tolevel5.()第12题Theconstructionoftestroadsforintelligentvehiclesprovides()AdifferentscenariosBadvancedfacilitiesCcontrollablerisksforthetestDverificationofintelligentvehicletechnologies正确答案：ABCD第13题Avehicleforfullyautonomousdrivingmaynothave()AcentralcomputerBbreakpedalCacceleratorpedalDsteeringwheel正确答案：BCD第14题Forenvironmentalperception,theautonomousvehicleusedifferentsensorsasitseyes,like()ARadarBLidarCGPUDCameras正确答案：ABD第15题Thearchitectureforatypicalautonomousvehiclehasthreecomponents()AEnvironmentalperceptionBDecisionmakingandplanningCBrakingsystemDMotioncontrol正确答案：ABD第16题Thelevelofautonomydependsonhowmanydriverinputsareinvolvedduringdriving.Driverinputsinclude()AthecontrolofsteeringwheelBthebrakepedalCtheacceleratorpedalDLidar正确答案：ABC第17题InDemo’97,autonomousdrivingtechnologiesfor()wastested.AsinglevehiclesBmultiplevehiclesCmultipleplatformsDcooperativevehicleinfrastructuresystem第18题TheDefenseAdvancedResearchProjectsAgency()intheUSAlaunchedthefirstGrandChallengein()A2003B2004C2005D2006正确答案：DAB第19题Anautonomousvehicleisabletofindapathtochangelane.Thisabilitybelongsto()AglobaldecisionmakingBglobalpathplanningClocaldecisionmakingDlocalpathplanning第20题At()inSAE,thevehicleisinchargeofalldrivingtasksandcanoperateinallenvironmentswithouthumaninterventions.ALevel5BLevel4CLevel3DLevel2第1题Theprocessofmachinelearningis:()AGatheringdata——Preparingthatdata——HyperparameterTuning——Choosingamodel——Training——Evaluation——PredictionBChoosingamodel——Training——Evaluation——HyperparameterTuning——Gatheringdata——Preparingthatdata——PredictionCGatheringdata——Preparingthatdata——Choosingamodel——Training——Evaluation——HyperparameterTuning——Prediction第2题InPython,the‘break’statementisusedtoterminatethecurrentloopandresumeexecutionatthenextstatementaftertheloop.()第3题Pythonsupportsbothsingle-lineandmulti-linecomments.()第4题Pythonisaninterpretedlanguage,whichmeansthatthesourcecodeisexecutedlinebyline.()第5题The‘len()’functioninPythonreturnsthelengthofasequence.()第6题Pythoniscompiledprogramminglanguage.()第7题Theactivationfunctionisveryhelpfulforimprovingthemodel'snonlinearexpressionability.()第8题InCNN,differentconvolutionkernelswillextractdifferentfeaturedata.()第9题ThepoollayerinCNNwillperformadownsamplingoperationalongthespatialdimensions.()第10题Machinelearningisasubsetofdeeplearning.()第11题TheK-meansalgorithmneedstomanuallyspecifythenumberofclusters.()第12题Thedataofunsupervisedlearninghavenolabels,andtheunsupervisedlearningmodelfindsthecharacteristicsofdataandclusterthesedataintodifferentcategories.()第13题Classificationisatechniqueforidentifyingsimilaritygroupswithindata.()第14题Whenthemodelhasconverged,theoveralllossstopschangingoratleastchangesextremelyslowly.()第15题Classificationalgorithmscanpredictonlybetweentwocategories()第16题Thetwo-classclassificationalgorithmtriestofindaboundarythatcanclassifythetrainingdataintotwocategories.()第17题Standardconvolutionalneuralnetworksgenerallyconsistofaninputlayer,(),andanoutputlayer.AaconvolutionallayerBapoolinglayerCarandomforestLayerDafullyconnectedlayer正确答案：ABD第18题ActivationfunctionsinANNinclude:()AlinearfunctionBsigmoidfunctionCRELUfunctionDtanhfunction正确答案：BCD第19题Whatisthepurposeofthe‘range()’functioninPython?()AGeneratealistofnumbersBPerformarithmeticoperationsCIterateoverasequenceofnumbers第20题Whatwillbetheoutputoftheabovecode?()A7B3C123.8Exercises第1题Formodel-basedRL,beforeupdatethevalueandpolicyusingtherealexperiencecollectedfromtherealworld,wecanuseaworldmodeltodotheupdateandinteractionformanytimes.()第2题DeeplearningintheDQNisoftenusedasavaluefunctionapproximator.()第3题Ifthelearningrateistoolarge,wemaytakeaverylongtimetogettothebottom.()第4题Theoptimalactionvaluefunctionisindependentofthepolicybeingfollowed.()第5题Thestate-valuefunctionisusuallyrepresentbyq,sothestatevaluefunctionisusuallycalledQfunction.()第6题ThestatetransitionofMDPistotallydeterminedbythepresentstate,historicalstateshavenoeffectsonthetransition.()第7题Usingthegreedypolicywillleadtothemaximizedvalueaccordingtocurrentknowledgeofthesystem,thus,itshouldbelargerthanoratleastequaltotheoriginalvalue.()第8题TheproblemsthatcanbesolvedbyDynamicprogrammingshouldhaveanoptimalsubstructure,meansoptimalsolutioncanbedecomposedintosubproblems.()第9题Thedifferencebetweenstate-valuefunctionandaction-valuefunctioniswhethertheactionisinvolvedornot.()第10题SARSAisanoff-policyalgorithm.()第11题Markovdecisionprocessisthebasisofreinforcementlearningalgorithms.()第12题TheinputtothedeepneuralnetworkinDeepQ-Learningis()AstateBpolicyCactionDreward第13题Inepsilongreedypolicy,weoftenchoose()withprobability1-AthegreedyactionBanactionatrandomCthegreedystateDthegreedyreward第14题AteachtimestepinTDlearning,wereceiveanimmediate(),andthenwecombineitandtheestimationforthestatevalueofthesuccessorstatetogettheestimatedreturn.AactionvalueBstatevalueCrewardDlearningrate第15题()estimatehowgooditisfortheagenttobeinagivenstate.ALossfunctionBRewardfunctionCState-valuefunctionDAction-valuefunction第16题Formally,()isgoinglikethis.Ateachiteration+1,Forallstatesinthestateset,Updatefrom,usingtheupdaterule.ApolicyinitializationBpolicyupdateCpolicyevaluationDpolicyimprovement第17题A()isadistributionoveractionsgivenstates,mappingfromstatestoprobabilitiesofselectingeachpossibleaction.AenvironmentBagentCpolicyDreward第18题Q-learningalgorithmusesQtabletoexpressvaluefunction.()第19题ThestatetransitionmatrixisnotusefulinthecalculationofMDP.()第20题Forallthestate-actionpairs,usetheupdateruletoupdateQtable.Utilconverge.Oncetheoptimal()isfound,theoptimalpolicycanbefoundthereafter.AQBVCrewardDstate4.6Exercises第1题Learningbasedmethodscannotintroduceglobalsemanticinformationsuchasmirrorpriorsandreflectionpriorstomakematchingmorerobust.()第2题Feature-basedmethodsrelyonidentifyingdistinctivefeaturesintheenvironment,suchascornersoredges,andmatchingthembetweendifferentsensordataframes.()第3题Comparedwithdirectcameraposeprediction,generatingmultiplecameraposeassumptionscanultimatelyimprovetheaccuracyofposeprediction.()第4题ResFlowNetcannotonlycorrecterrorsinthepredictionofmovingobjects,butalsocorrecttheimperfectresultsofthefirststage.()第5题ThemathematicaldescriptionofSLAMproblemisusuallydividedintomotionequationandobservationequation.()第6题Thebehaviorofpedestriansishighlyuncertainandeasilyaffectedbythesurroundingenvironment.()第7题Inmixedtrafficscenarios,cyclistsoftenhaveflexiblesteeringandspeedadjustmentbehaviors,which,duetotheirstrongrandomness,willposeagreatrisktotheneighboringautonomousvehicle.()第8题Boundingboxisaboxaroundthedetectedobject,whichisusuallyusedtodescribethespatiallocationofanobject.Thepositionoftheboundingboxisdeterminedbyitstop-leftcornerandbottom-rightcorner.()第9题BeiDousatellitenavigationsystemconsistsof35satellites,whichcanprovidepreciselocalizationinformationandhasbeenwidelyusedforvehiclenavigationincities.()第10题ThereareproblemsandchallengesinexistingBA:().ASensitivetoinitialization,luminosityerrorincreasesnon-convexity.BSensitivetochangesincameraexposureandwhitebalance.CSensitivetooutliers,suchasmovingobjects.DSensitivetobuildsensegraph.正确答案：ABC第11题Typically,AConvolutionalNeuralNetworkhas().AinputlayerBconvolutionallayerCpoolinglayerDfullyconnectedlayerandoutputlayer正确答案：ABCD第12题Oneconvolutionalkernelcorrespondstoonechannel.()第13题KalmanFilterisusuallyusedforcombiningGPSandIMU.()第14题(),oneofthemostchallengingplacerecognitiondatasetstodate,consistsoffourtimesynchronizedvideosoftrainjourneysthroughNorway.ATheWaymodatasetBTheNordlanddatasetCTheKITTIdatasetDTheAIRdataset第15题()measuresdistanceswithwell-definedglobalminimumsandsmoothedbasins.AInputsBRGBCC3DF3第16题()calculatestheaverageEuclideandistancebetweeneachpointinthepredictedtrajectoryandthecorrespondingpointintherealtrajectory.ALSTMBADECCNNDRNN第17题Wecanmodelthetrajectorypredictionproblemasa()problem.AregressionBclusterCplanningDcontrol第18题()canbeusedtodealwiththelinearlyinseparableproblem,byfindingahyperplanethatcandividedifferentkindsofdata.ASVMBLSTMCCNNDGNN第19题Wemodelthebehaviorrecognitionproblemasa()problem.AclusterBclassificationCplanningDcontrol第20题Wecanuse()toextractskeletoninformationfromthecroppedimages.AcontrolBplanningCOpenPoseDSLAM5.5Exercises第1题InPOMCP-DPWbasedlane-changingdecisionmakingsystem,themeanandstandarddeviationoftheparticlesamplingatthenextmomentneedtoberedesignedbasedontheaccuracyoftheparticle'sestimationofthesurroundingvehicle'spositionatthepreviousmoment.()第2题POMCP-HDPWderivesfromtheoriginalversionofPOMCP-DPWwithheuristicallypruningalgorithm,avoidinguselessexploration.()第3题InPOMDPbasedlane-changingdecisionmakingsystem,Gaussiannoiseisaddedtotherealstatetoconsidertheuncertaintyofperceptionerror.()第4题InthestatespaceofMDP,theunobservablestateofsurroundingvehicleincludesreferencespeedanddesiredtimegapthatcontrolthefuturemotionofsurroundingvehicle.()第5题Atpresent,thedesignofautonomousdrivingsystemhastwodistinctroutes,includingmodulardesignideasandend-to-enddesignideas.()第6题Thepredictionunitofsocialpreferenceisbuilttoestimatesocialpreferenceineachtimestep.()第7题Insimpleovertakingscenarioonstraightroadmodeledinourcourse,motionprimitivesaretrajectoriescombinedwithcontrolsequences.()第8题IntheovertakingdecisionmakingmethodundertheframeworkofHRL,thealgorithmselectssuitableoptionsprovidedbythemotionprimitivelibraryindifferentovertakingphases.()第9题TheNGSIMdatasetconsistsofvariousvehicletrajectorydatafrommultiplehighways,itcanbeobtainedforafeefromtheirofficialwebsite.()第10题AfterinstallingwiththecompliedversionofCARLA,package“carla”hasbeenbuiltintothefolder“PythonAPI”.()第11题InCARLA,apythonscriptcancollectthevehicleinformationfromtheclientandsendthecontrolcommandstoserver.()第12题CARLAisbasedontheUnrealEngine4,whichprovideshighrenderingqualityandrealisticphysics.()第13题Thestatetransitionprocessofstatemachineisbasedonpredefinedrules.()第14题InthestatespaceofMDP,theobservablestateofvehicleincludes()ApositionBspeedCheadingangleDall第15题Inatypicalautonomousdrivingtask,thedecisionmakingandpathplanningshouldworkinorder()①Preparingthemapinformation,②Localpathplanning,③Globalpathplanningusingthemapinformation,④DecisionmakingA①③②④B①③④②C②①③④D①④③②第16题InovertakingscenariowithsocialpreferencemodeledunderthearchitectureofRLinourcourse,thestatespaceincludesthe()ofegoandovertakenvehiclesinthelatticespace.ApositionsBvelocityCaccelerationDsocialpreferencelabel正确答案：AB第17题InHierarchicalreinforcementlearningproblemformulatedinovertakingdecisionproblem,trafficefficiencyandtrafficcomfortareevaluatedseparatelyby().AtraveltimeBaveragelateralaccelerationCaveragelateralvelocityDminimumsafedistance正确答案：AB第18题Whatisnotthedisadvantageofrule-baseddecisionmakingmethodinfollowingoptions()AoverrelianceonexpertknowledgeBdifficulttoconsiderinteractionandscenariouncertaintyCpoorreal-timeperformanceDdifficulttodesignrulesincomplexscenarios第19题()isgeneralizedfromMDPwheretheactionscantakeavariableamountoftimetocomplete.AHMMBMRPCPOMDPDSMDP第20题TheinformationacquisitionmoduleinCARLAcanbeusedtoobtaintheinformationofthe()AspeedBpositionCangleoftheactorDall6.6Exercises第1题Inthecar-followingscenario，wehaveanegovehiclecontrolledbyourselves,anda()controlledbyanotherdriver.AfrontvehicleBmainvehicleCfollowingvehicle第2题IntheRLmodeloflearningfromhumandrivers,thestatecanbethedifferencebetweenyawangleoftheautonomousvehicleandtheyawangleofahuman-drivenvehicle.()第3题Experiencedhumandriversalwayshaveabetterchoicethanthealgorithms,especiallyinthecomplexdrivingenvironment.()第4题Traditionalautonomousdrivingsystemssufferfromlowefficiencyinthedynamictrafficenvironmentbecauseoftheirrigidplanningandcontrolmodules.()第5题Forthepathtrackingproblem,atwodimensionalstateset,xandtheta,issufficienttofullydescribethepathtrackingproblem.()第6题ForusingMPC,wedonotneedtoknowthevehicledynamicmodel.()第7题Steeringcontroloutputstheyawangleateachtimestepofthevehicle.()第8题Lanekeepingreferstotheabilityoftheautonomousvehicletomaintainitselfinthelanebyadjustingitselfwhenitapproachestheboundariesofthelane.()第9题Rewardisdefinedasfunctionofstateandaction.()第10题Pathplanningispartoflongitudinalcontrolinautonomousdrivingsystems,responsiblefordeterm