HORIZON AI ENGINEERS WINS WAYMO ALGORITHMS
CHALLENGE IN JUNE 2020

HORIZON AI ENGINEERS WIN WAYMO CHALLENGE
AGAIN IN JUNE 2021

Under constraints of
< 70ms latency and > 70 APH / L2 (accuracy)
Horizon Won
The 2 main World Championships
1. Highest accuracy 3D detection model under
latency constraint (AFDetv2)
2. Most efficient model with lowest latency under
accuracy constraints (AFDetv2-Base)

LIDAR PERCEPTION

LiDAR perception models run very efficiently on Journey BPU and can be fused with multi-camera perception

BIRD’S EYE VIEW (BEV) PERCEPTION ALGORITHMS

A new perception paradigm (available on Journey 5 driving solutions)

Current per-camera perception output in image space has limitations:

- Need rules to transform the representation into 3D space
- Incomplete intermediate results. Could miss important perception when objects stretches across cameras
- Per-sensor processing requires late fusion
- Post processing is not learnable. Corner cases require large engineering effort

BEV: AI models directly output their perception results in 3D space

- Compose a complete set of perception formats with the neural networks
- Sensor stream fusion with AI models aka middle fusion
- End-to-end learnable and data driven improvements (rather than code driven), saves engineering effort
- Challenges: New fusion architecture. Perception task completeness (static/dynamic – Semantic – Structure). 4D ground truth generation

HORIZON ADVANCED LEARNED BASED PLANNING

AI based Planning addresses complex scenario and improves the driving experience