{"id":12199,"date":"2024-06-28T16:42:26","date_gmt":"2024-06-28T08:42:26","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12199"},"modified":"2024-06-28T16:42:26","modified_gmt":"2024-06-28T08:42:26","slug":"2024-06-28-%e4%bd%bf%e7%94%a8%e5%9f%ba%e4%ba%8e%e8%a7%86%e8%a7%89%e7%9a%84bev%e6%96%b9%e6%b3%95%e5%ae%9e%e7%8e%b0%e8%87%aa%e5%8a%a8%e6%b3%8a%e8%bd%a6%e8%a7%84%e5%88%92","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/28\/12199\/","title":{"rendered":"2024-06-28 \u4f7f\u7528\u57fa\u4e8e\u89c6\u89c9\u7684BEV\u65b9\u6cd5\u5b9e\u73b0\u81ea\u52a8\u6cca\u8f66\u89c4\u5212"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"948\" height=\"148\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-341.png\" alt=\"\" class=\"wp-image-12200\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-341.png 948w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-341-300x47.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-341-768x120.png 768w\" sizes=\"(max-width: 948px) 100vw, 948px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2406.15430<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u4f7f\u7528\u57fa\u4e8e\u89c6\u89c9\u7684BEV\u65b9\u6cd5\u5b9e\u73b0\u81ea\u52a8\u6cca\u8f66\u89c4\u5212\u3002\u81ea\u52a8\u4ee3\u5ba2\u6cca\u8f66\uff08AVP\uff09\u662f\u9ad8\u7ea7\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u91cd\u8981\u529f\u80fd\uff0c\u7740\u91cd\u4e8e\u201c\u4eba\u673a\u4ea4\u4e92\u201d\u8fc7\u7a0b\u4e2d\u7684\u7ec8\u70b9\u4efb\u52a1\uff0c\u4ee5\u5e94\u5bf9\u201c\u6700\u540e\u4e00\u516c\u91cc\u201d\u7684\u6311\u6218\u3002\u81ea\u52a8\u6cca\u8f66\u7b97\u6cd5\u7684\u611f\u77e5\u6a21\u5757\u5df2\u7ecf\u4ece\u4f7f\u7528\u8d85\u58f0\u6ce2\u96f7\u8fbe\u548c\u5168\u5c40\u573a\u666f\u7cbe\u786e\u5730\u56fe\u5339\u914d\u5b9e\u73b0\u5b9a\u4f4d\u7684\u5c40\u90e8\u611f\u77e5\u6f14\u53d8\u4e3a\u9ad8\u7ea7\u65e0\u5730\u56fe\u9e1f\u77b0\u56fe\uff08BEV\uff09\u611f\u77e5\u7684\u89e3\u51b3\u65b9\u6848\u3002BEV\u573a\u666f\u5bf9\u81ea\u52a8\u6cca\u8f66\u89c4\u5212\u4efb\u52a1\u7684\u5b9e\u65f6\u6027\u80fd\u548c\u5b89\u5168\u6027\u63d0\u51fa\u4e86\u66f4\u9ad8\u7684\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u57fa\u4e8eA*\u7b97\u6cd5\u63d0\u51fa\u4e86\u4e00\u79cd\u6539\u8fdb\u7684\u81ea\u52a8\u6cca\u8f66\u7b97\u6cd5\uff0c\u5176\u96c6\u6210\u4e86\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b\u3001\u542f\u53d1\u5f0f\u51fd\u6570\u4f18\u5316\u3001\u53cc\u5411\u641c\u7d22\u548c\u8d1d\u585e\u5c14\u66f2\u7ebf\u4f18\u5316\u6765\u63d0\u9ad8\u89c4\u5212\u7b97\u6cd5\u7684\u8ba1\u7b97\u901f\u5ea6\u548c\u5b9e\u65f6\u6027\u3002\u672c\u6587\u91c7\u7528\u4e86\u6570\u503c\u4f18\u5316\u65b9\u6cd5\u6765\u751f\u6210\u6700\u7ec8\u7684\u6cca\u8f66\u8f68\u8ff9\uff0c\u786e\u4fdd\u4e86\u6cca\u8f66\u8def\u5f84\u7684\u5b89\u5168\u6027\u3002\u672c\u6587\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u5e38\u7528\u7684\u5de5\u4e1aCARLA-ROS\u8054\u5408\u4eff\u771f\u73af\u5883\u4e2d\u8fdb\u884c\u5b9e\u9a8c\u9a8c\u8bc1\u3002<\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u7b97\u6cd5\u76f8\u6bd4\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u66f4\u5177\u6311\u6218\u6027\u7684\u78b0\u649e\u98ce\u9669\u6d4b\u8bd5\u6848\u4f8b\u4e2d\u7f29\u77ed\u4e86\u8ba1\u7b97\u65f6\u95f4\uff0c\u5e76\u4e14\u63d0\u9ad8\u4e86\u8212\u9002\u5ea6\u6307\u6807\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u672c\u6587\u4f18\u5316\u4e86A*\u7b97\u6cd5\u4ee5\u63d0\u9ad8\u5176\u89c4\u5212\u901f\u5ea6\uff0c\u5e76\u4e14\u89e3\u51b3\u4e86\u8def\u5f84\u4e0d\u8fde\u7eed\u548c\u8f6c\u5f2f\u8fc7\u591a\u7684\u95ee\u9898\uff0c\u4ece\u800c\u6ee1\u8db3\u4e86BEV\u5c40\u90e8\u5730\u56fe\u8def\u5f84\u89c4\u5212\u7684\u9ad8\u5b9e\u65f6\u6027\u548c\u9ad8\u8f68\u8ff9\u8d28\u91cf\u8981\u6c42\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u4f7f\u7528\u4f18\u5316\u5668\u5728\u5c40\u90e8\u5730\u56fe\u4e2d\u641c\u5bfb\u65e0\u969c\u788d\u7684\u6cca\u8f66\u8f68\u8ff9\uff0c\u4ee5\u786e\u4fdd\u826f\u597d\u7684\u907f\u969c\u5b89\u5168\u6027\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u5728\u4eff\u771f\u5668\u4e2d\u8fdb\u884c\u82e5\u5e72\u7ec4\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u7684\u89c4\u5212\u65b9\u6cd5\u5728\u5b9e\u65f6\u6027\u3001\u5b89\u5168\u6027\u548c\u8212\u9002\u6027\u65b9\u9762\u4f18\u4e8e\u4f20\u7edf\u7684A*\u7b97\u6cd5\u4e0e\u51e0\u4f55\u66f2\u7ebf\u65b9\u6cd5\u7684\u7ed3\u5408\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"345\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-342-1024x345.png\" alt=\"\" class=\"wp-image-12201\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-342-1024x345.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-342-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-342-768x258.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-342.png 1034w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"787\" height=\"520\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-343.png\" alt=\"\" class=\"wp-image-12202\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-343.png 787w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-343-300x198.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-343-768x507.png 768w\" sizes=\"(max-width: 787px) 100vw, 787px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"290\" height=\"225\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-344.png\" alt=\"\" class=\"wp-image-12203\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"242\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-345.png\" alt=\"\" class=\"wp-image-12204\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-345.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-345-300x143.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"258\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-346.png\" alt=\"\" class=\"wp-image-12205\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-346.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-346-300x153.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"387\" height=\"258\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-347.png\" alt=\"\" class=\"wp-image-12206\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-347.png 387w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-347-300x200.png 300w\" sizes=\"(max-width: 387px) 100vw, 387px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"220\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-348.png\" alt=\"\" class=\"wp-image-12207\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-348.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-348-300x130.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"511\" height=\"326\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-349.png\" alt=\"\" class=\"wp-image-12208\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-349.png 511w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-349-300x191.png 300w\" sizes=\"(max-width: 511px) 100vw, 511px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"980\" height=\"558\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-350.png\" alt=\"\" class=\"wp-image-12209\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-350.png 980w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-350-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-350-768x437.png 768w\" sizes=\"(max-width: 980px) 100vw, 980px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"291\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-351-1024x291.png\" alt=\"\" class=\"wp-image-12210\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-351-1024x291.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-351-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-351-768x219.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-351.png 1033w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"251\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-352.png\" alt=\"\" class=\"wp-image-12211\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-352.png 500w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-352-300x151.png 300w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"497\" height=\"255\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-353.png\" alt=\"\" class=\"wp-image-12212\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-353.png 497w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-353-300x154.png 300w\" sizes=\"(max-width: 497px) 100vw, 497px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"495\" height=\"255\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-354.png\" alt=\"\" class=\"wp-image-12213\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-354.png 495w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-354-300x155.png 300w\" sizes=\"(max-width: 495px) 100vw, 495px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"491\" height=\"255\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-355.png\" alt=\"\" class=\"wp-image-12214\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-355.png 491w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-355-300x156.png 300w\" sizes=\"(max-width: 491px) 100vw, 491px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"478\" height=\"253\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-356.png\" alt=\"\" class=\"wp-image-12215\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-356.png 478w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-356-300x159.png 300w\" sizes=\"(max-width: 478px) 100vw, 478px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"502\" height=\"254\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-357.png\" alt=\"\" class=\"wp-image-12216\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-357.png 502w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-357-300x152.png 300w\" sizes=\"(max-width: 502px) 100vw, 502px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"986\" height=\"126\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-358.png\" alt=\"\" class=\"wp-image-12217\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-358.png 986w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-358-300x38.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-358-768x98.png 768w\" sizes=\"(max-width: 986px) 100vw, 986px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"957\" height=\"119\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-359.png\" alt=\"\" class=\"wp-image-12218\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-359.png 957w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-359-300x37.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-359-768x95.png 768w\" sizes=\"(max-width: 957px) 100vw, 957px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"510\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-360.png\" alt=\"\" class=\"wp-image-12219\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-360.png 510w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-360-300x100.png 300w\" sizes=\"(max-width: 510px) 100vw, 510px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"511\" height=\"167\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-361.png\" alt=\"\" class=\"wp-image-12220\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-361.png 511w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-361-300x98.png 300w\" sizes=\"(max-width: 511px) 100vw, 511px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"168\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-362.png\" alt=\"\" class=\"wp-image-12221\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-362.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-362-300x99.png 300w\" sizes=\"(max-width: 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