3D object detection is a critical technology in many applications, and among the various detection methods, pointcloud-based methods have been the most popular research topic in recent years. Since Graph Neural Network (GNN) is considered to be effective in dealing with pointclouds, in this work, we combined it with the attention mechanism and proposed a 3D object detection method named PointGAT. Our proposed PointGAT outperforms previous approaches on the KITTI test dataset. Experiments in real campus scenarios also demonstrate the potential of our method for further applications.

With the development of automobile intelligence and connectivity, Intelligent and Connected Vehicle (ICV) is an inevitable trend in the transformation and upgrading of the automotive industry. The maturity of any advanced technology is inseparable from a large number of test verifications, especially the research and application of automotive technology require a large number of reliable tests for evaluation and confirmation. Therefore, the ICV Test Site (ICVTS) will become a key deployment area. In this paper, we analyze the development status of ICVTS outside and within China, summarize the shortcomings of the existing test sites, and put forward some targeted suggestions, in an effort to guide the development and construction of ICVTS towards the path that seems to be most promising.