0 FSD S0120522120003 yunf|2023 11 71 01020304 FSD FSD V12 CONTENTSZXFUxOnQmPmNrPtQqNoRpOaQbP6MnPqQtRpMlOpOrQfQqQyQ7NmMvNvPnRsQxNoMnN2 013 ABSTRACT FSD/Planning Neural Networks Training Data Occupancy Lanes&Objects Auto Labeling Simulation Data Engine Training Infra AI Compiler&Inference TESLA 2022 AI day youtube 4 02 FSD5 FSD/FSD Planning:Neural Networks/Training Data 4D Training Infra CPU GPU Neural Network Accelerator AI AI AI AI Compiler&Inference FSD TESLA 2022 AI day youtube 6 2.1 Planning 7 TESLA 2022 AI day youtube FSD Interaction Search FSD TESLA 2022 AI day youtube TESLA 2021AI day youtube 8 Vector Space FSD Vector Space Vector Space FSD TESLA 2022 AI day youtube 1-5ms Tesla VS 100us/9 Vector Space FSD corner case Occupancy Network Occupancy Network TESLA 2022AI day youtube FSD FSD-TESLA 2021 AI day youtube 10 2.2 Neural Networks 11 BEV+Transformer+Occupancy FSD 12 2.2.1 Occupancy Network 13 Occupancy Occupancy THINK AUTONOMOUS 14 HydraNets BEV backbone HydraNets TESLA 2021 AI day youtube cacheBackboneNeckHeadHeadHead HydraNets Backbone(Neck)(Head(RegNet)(BiFPN)(multi-scale features(Feature Sharing)De-Couples Tasks Representation Bottleneck 15 Step 1 Image Input 12 RGB 8 4 16 ISP Step 2 Rectify(virtual camera)Step 3 Image Featurizers RegNet specific class of resnets BiFPN virtual camera TESLA 2021AI day youtube 16 Step 4 Spacial Attention BEV 3D(key)(value)Transformer Step 5 Temporal Alignment per volex feature MAP MLP 3D query BEV+Transformer TESLA 2021AI day youtube TESLA 2021AI day youtube 17 2.2.2(Lanes&Objects)18 3D Occupancy Map Component/Dense World Tensor Vector Lane TESLA 2022AI day youtube 2D BEV 3D Occupancy19 TESLA 2022AI day youtube 3D,3D 20 TESLA 2022AI day youtube 3D 3D 21 2.3 Training Data 22 2.3.1 Auto Labeling 23 2D 4D 1000 2D 4D TESLA 2021 AI day youtube 2D BEV 4D 2D Bounding Boxes 24 4D TESLA 2022AI day youtube 4D BEV 3D 500 12 10000 25 4D Clips Labels 4D TESLA 2021AI day youtube IMU GPS Clip 45-60 Labels26 4D 4D 3 TESLA 2022 AI day youtube 27 2.3.2 Simulation 28 Corner Case FSD TESLA 2022 AI day youtube 5Min29 Step 1 Accurate Sensor Simulation:FSD Step 2 Photorealistic Rendering Step 3 Diverse Actors&Locations TESLA 2021 AI day youtube TESLA 2021 AI day youtube 30 Step 4 Scalable Sensor Generation MLB Step 5 Sensor Recontruction:FSD TESLA 2021 AI day youtube 31 2.3.3 Data Engine 32 TESLA 2022 AI day youtube AI AI 33 TESLA 2022 AI day youtube 34 2.4 Training Infra 35 Dojo D1 CPU 2d Mesh D1 Tesla 2021 AI day youtube Dojo Tesla 2021 AI day youtube Dojo Tesla 36 Dojo Compiler Tesla 2021 AI day youtube Dojo Occupancy Networks 4D Occupancy Networks A100 Dojo 37 Dojo Dojo FSD Dojo Optimus TESLA Dojo:The-Scale Computer 38 2.5AI AI compiler&inference 39+AI TESLA 2022 AI day youtube 10 1000(CombileToolchain)Hybrid Parallelism SOC SOC 40 TESLA 2022 AI day youtube Goals compile all operations to natively run on TRIP engine Dense Dot Product Lanes Network sparse point 41 One-Hot One-Hot SRAM AI TESLA 2022 AI day youtube 42 7500 10ms 8W 7500 10ms 8W TESLA 2022 AI day youtube 7500 万参数 9.6ms延迟 消耗8W功率43 03FSD V12 44 FSD V12 23 8 26 CEO FSD V12 45 V12 FSD UniAD query Transformer UniAD 2 2 Transformer UniAD Pipeline Planning-oriented Autonomous Driving Yihan Hu,Jiazhi Yang45 VS Recent Advancements in End-to-End Autonomous Driving using Deep Learning:A Survey Pranav Singh Chib,Pravendra Singh VS46 BEV 2D 2D 2D 3D 3D BEV BEV BEV+transformer 2021 XNet BEV Transformer 4D Encoder Structure Transformer-based models and hardware acceleration analysis in autonomous driving:A survey Juan Zhong,Zheng Liu,Xi Chen XNet 47 0448 11 6 wind wind 1=0.92962 FSD 1 2 A PB 2022A 2023E 2024E 2025E 2022A 2023E 2024E 2025E2015.HK-W 3,032-20.12 78.94 150.67 313.95 3.19 5.70 4.43 3.039868.HK-W 1,108-91.39-92.85-57.52-17.88 1.60 3.83 4.79 4.88000625.SZ 1,526 77.98 104.21 82.48 105.35 1.94 2.19 1.99 1.75601127.SH 1,476-38.32-30.46-9.70 8.61 5.24 15.83 20.19 23.14600418.SH 422-15.82 2.11 4.06 6.45 2.10 3.05 2.97 2.8749 50 2016 2017 2018 2020 1.6 6 20%5%20%-5%+5%5%2.A 500 10%-10%10%10%51 52 600 N1 9+86 21 68761616+86 21 68767880400-8888-128