In this work, we present an efficient and quantization-aware panoptic driving
perception model (Q- YOLOP) for object detection, drivable area segmentation,
and lane line segmentation, in the context of autonomous driving. Our model
employs the Efficient Layer Aggregation Network (ELAN) as its backbone and
task-specific heads for each task. We employ a four-stage training process that
includes pretraining on the BDD100K dataset, finetuning on both the BDD100K and
iVS datasets, and quantization-aware training (QAT) on BDD100K. During the
training process, we use powerful data augmentation techniques, such as random
perspective and mosaic, and train the model on a combination of the BDD100K and
iVS datasets. Both strategies enhance the model's generalization capabilities.
The proposed model achieves state-of-the-art performance with an mAP@0.5 of
0.622 for object detection and an mIoU of 0.612 for segmentation, while
maintaining low computational and memory requirements.

通过提出一种高效的量化感知网联驾驶模型（Q- YOLOP）来实现目标检测、可行驶区域分割、车道线分割，其采用高效层聚合网络（ELAN）作为主干，并在 BDD100K 数据集上具有在 mAP@0.5 为 0.622 的最新性能和分割的 mIoU 为 0.612，同时保持较低的计算和内存要求。