实车体验｜地平线HSD V2.0：一段式端到端的「二次进化」

TL;DR - Horizon Robotics released HSD V2.0, an upgrade to its one-stage end-to-end autonomous driving stack that adds a world model plus end-to-end reinforcement learning, road-tested by 雷峰网 over a ~12–14 km Beijing urban route. It signals that world-model-driven synthetic data and RL are becoming the practical answer to long-tail driving scenarios in shipping ADAS products.

• Architecture: a "dual engine" layered on the existing single-stage end-to-end model — RL lets the system self-improve via trial and error inside a virtual physical world, with real expert-driver data as the base and world-model-generated high-fidelity synthetic scenes filling long-tail gaps.
• Claimed metrics: 56% longer distance between takeovers, 20% lower system response latency, and 167% better interaction/negotiation ability; parking (side, angled, very narrow slots) and obstacle avoidance improved alongside driving, suggesting global rather than per-module gains.
• Behavioral capabilities demoed: multi-point narrow-road U-turns with fluid D/R gear switching, where gear selection and trajectory planning come from one model doing spatial understanding and real-time decisions rather than rule-triggered reversing.
• Semantic understanding: a VLM reads tidal lanes and time-restricted bus-lane signage in real time without HD-map priors, and the world model supports "social common sense" — yielding to ambulances, slowing for puddles, anticipating pedestrian intent — instead of hand-written rules.