We present the 1st-place solution of OpenLane Topology in Autonomous Driving Challenge. Considering that topology reasoning is based on centerline detection and traffic element detection, we develop a multi-stage framework for high performance. Specifically, the centerline is detected by the powerful PETRv2 detector and the popular YOLOv8 is employed to detect the traffic elements. Further, we design a simple yet effective MLP-based head for topology prediction. Our method achieves 55\% OLS on the OpenLaneV2 test set, surpassing the 2nd solution by 8 points.

翻译：我们提出了自动驾驶挑战赛OpenLane拓扑赛道的第一名解决方案。考虑到拓扑推理基于中心线检测和交通元素检测，我们开发了一个多阶段框架以实现高性能。具体而言，中心线由强大的PETRv2检测器检测，并采用流行的YOLOv8检测器检测交通元素。此外，我们设计了一种简单而有效的基于MLP的拓扑预测头。我们的方法在OpenLaneV2测试集上达到了55%的OLS，领先第二名解决方案8个百分点。