{"id":12490,"date":"2024-07-09T14:19:11","date_gmt":"2024-07-09T06:19:11","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12490"},"modified":"2024-07-09T14:19:43","modified_gmt":"2024-07-09T06:19:43","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%bb%bf%e7%9c%9f%e8%b6%85%e5%85%a8%e7%bb%bc%e8%bf%b0%ef%bc%9a%e4%bb%8e%e4%bb%bf%e7%9c%9f%e5%9c%ba%e6%99%af%e3%80%81%e7%b3%bb%e7%bb%9f%e5%88%b0%e8%af%84%e4%bb%b7","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/09\/12490\/","title":{"rendered":"2024-07-09 \u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8d85\u5168\u7efc\u8ff0\uff1a\u4ece\u4eff\u771f\u573a\u666f\u3001\u7cfb\u7edf\u5230\u8bc4\u4ef7"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"399\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-62.png\" alt=\"\" class=\"wp-image-12491\" 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class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"233\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-24.png\" alt=\"\" class=\"wp-image-12497\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-24.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-24-300x97.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u4e09\u5c42\u573a\u666f\u4f53\u7cfb<\/p>\n\n\n\n<p>\u5177\u4f53\u573a\u666f\u9700\u8981\u8f6c\u6362\u4e3a\u8ba1\u7b97\u673a\u53ef\u7406\u89e3\u7684\u8bed\u8a00\u5373\u573a\u666f\u8bed\u8a00\u624d\u80fd\u53d1\u6325\u4f5c\u7528\u3002\u573a\u666f\u8bed\u8a00\u662f\u4e00\u79cd\u53ef\u7528\u4ee5\u63cf\u8ff0\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f85\u5904\u7406\u7684\u5916\u90e8\u73af\u5883\u7684\u8ba1\u7b97\u673a\u53ef\u89e3\u6790\u7684\u5f62\u5f0f\u5316\u8bed\u8a00\u3002<\/p>\n\n\n\n<p>\u573a\u666f\u8bed\u8a00\u7684\u5177\u4f53\u5f62\u5f0f\u4e0d\u4e00\u3002\u9488\u5bf9\u529f\u80fd\u573a\u666f\u3001\u903b\u8f91\u573a\u666f\u4ee5\u53ca\u5177\u4f53\u573a\u666f\u90fd\u6709\u76f8\u5e94\u7684\u573a\u666f\u8bed\u8a00\uff1a\u5982\u9488\u5bf9\u524d\u4e24\u8005\uff0c\u6709M-SDL\u7b49\u9ad8\u7ea7\u573a\u666f\u8bed\u8a00\uff1b\u9488\u5bf9\u540e\u8005\u6709OpenSCENARIO\u3001GeoScenario\u7b49\u3002\u4e0d\u540c\u4eff\u771f\u8f6f\u4ef6\u652f\u6301\u7684\u573a\u666f\u8bed\u8a00\u4e5f\u4e0d\u540c\uff1a\u5982CARLA\u548clgsvl\u7b49\u90fd\u652f\u6301\u57fa\u4e8ePython\u811a\u672c\u7684\u573a\u666f\u8bed\u8a00\uff1bCARLA\u3001VTD\u548c\u6700\u65b0\u7248\u672c\u768451Sim-One1.2\u7b49\u652f\u6301\u57fa\u4e8eXML\u7684\u573a\u666f\u8bed\u8a00\u3002\u6b64\u5916\uff0cprotobuf\u3001JSON\u90fd\u53ef\u4ee5\u4f5c\u4e3a\u627f\u8f7d\u5177\u4f53\u573a\u666f\u8bed\u8a00\u7684\u683c\u5f0f\u3002<\/p>\n\n\n\n<p>\u8fd9\u5176\u4e2d\u7684\u5173\u952e\u4e0d\u5728\u4e8e\u8bed\u8a00\u672c\u8eab\uff0c\u800c\u5728\u4e8e\u80fd\u5168\u9762\u4e14\u4e0d\u5197\u4f59\u7684\u8986\u76d6\u4ea4\u901a\u5143\u7d20\u7684\u4f53\u7cfb\u6807\u51c6\u3002\u76ee\u524d\u5df2\u6709\u4e00\u4e9b\u673a\u6784\u5728\u63a8\u76f8\u5e94\u7684\u6807\u51c6\uff0c\u6bd4\u8f83\u6210\u529f\u7684\u662f\u7531VTD\u53d1\u8d77\u7684\u7531ASAM\uff08\u56fd\u9645\uff09\/ CASAM\uff08\u56fd\u5185\uff09\u63a8\u52a8\u7684OpenX\u7cfb\u5217\u3002\u516c\u4f17\u53f7\u5728\u540e\u671f\u4f1a\u56f4\u7ed5OpenX\u7cfb\u5217\u5c55\u5f00\u8f83\u591a\u4ecb\u7ecd\uff0c\u56e0\u4e3a\u8fd9\u662f\u76ee\u524d\u770b\u6765\u6700\u6709\u53ef\u80fd\u63a8\u5e7f\u5f00\u6765\u7684\u4e00\u4e2a\u6807\u51c6\u3002\u5177\u4f53\u4e5f\u53ef\u4ee5\u5173\u6ce8\u4e2d\u6c7d\u4e2d\u5fc3\u5468\u535a\u6797\u5468\u535a\u7684\u5206\u4eab\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-25.png\" alt=\"\" class=\"wp-image-12498\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-25.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-25-300x143.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>M-SDL \u4e00\u79cd\u9ad8\u7ea7\u573a\u666f\u8bed\u8a00<\/p>\n\n\n\n<p><strong>1.2 \u573a\u666f\u5185\u5bb9<\/strong><\/p>\n\n\n\n<p>1.2.1 \u57fa\u4e8e\u77e5\u8bc6\u3001\u6570\u636e\u7684\u573a\u666f\u6765\u6e90\u5728\u786e\u5b9a\u573a\u666f\u5f62\u5f0f\u540e\uff0c\u540e\u671f\u65e5\u5e38\u5de5\u4f5c\u4f1a\u56f4\u7ed5\u573a\u666f\u5185\u5bb9\u7684\u6784\u5efa\u5c55\u5f00\u3002\u573a\u666f\u5185\u5bb9\u6709\u4e24\u4e2a\u4e3b\u8981\u6765\u6e90\uff1a\u77e5\u8bc6\u548c\u6570\u636e\u3002\u5176\u4e2d\uff0c\u57fa\u4e8e\u77e5\u8bc6\u7684\u65b9\u6cd5\u4e3b\u8981\u662f\u4f9d\u8d56\u4e8e\u5177\u4f53\u573a\u666f\u7ed3\u6784\uff0c\u7efc\u5408\u501f\u9274\u5404\u76f8\u5173\u5b66\u79d1\u7684\u77e5\u8bc6\uff0c\u5206\u6790\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9700\u8981\u5904\u7406\u7684\u9759\u3001\u52a8\u6001\u5143\u7d20\u7c7b\u578b\uff0c\u5e76\u7ed3\u5408\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6d4b\u8bd5\u9700\u6c42\u6784\u5efa\u573a\u666f\u3002\u57fa\u4e8e\u6570\u636e\u7684\u5206\u6790\u65b9\u6cd5\u5219\u662f\u4ece\u91c7\u96c6\u7684\u81ea\u7136\u9a7e\u9a76\u6570\u636e\u4e2d\u5206\u6790\u63d0\u53d6\u51fa\u6709\u4ef7\u503c\u7684\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u77e5\u8bc6\u3001\u6570\u636e\u7684\u573a\u666f\u6784\u5efa\u65b9\u6cd5\u6700\u7ec8\u90fd\u53ef\u4ee5\u751f\u6210\u6d4b\u8bd5\u6240\u9700\u8981\u7684\u5177\u4f53\u573a\u666f\uff0c\u8fd9\u90e8\u5206\u4e5f\u662f\u516c\u4f17\u53f7\u540e\u671f\u8981\u5c55\u5f00\u8ba8\u8bba\u7684\u6838\u5fc3\u5185\u5bb9\u4e4b\u4e00\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"605\" height=\"268\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-28.webp\" alt=\"\" class=\"wp-image-12493\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-28.webp 605w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-28-300x133.webp 300w\" sizes=\"(max-width: 605px) 100vw, 605px\" \/><\/figure>\n\n\n\n<p>\u77e5\u8bc6\u9a71\u52a8\u548c\u6570\u636e\u9a71\u52a8\u7684\u573a\u666f\u751f\u6210\u65b9\u6cd5<\/p>\n\n\n\n<p>1.2.2 \u5177\u4f53\u9759\u3001\u52a8\u6001\u573a\u666f\u5185\u5bb9\u4ece\u5177\u4f53\u5143\u7d20\u7684\u89d2\u5ea6\u770b\u5f85\u573a\u666f\u5185\u5bb9\uff0c\u53ef\u5c06\u5143\u7d20\u5206\u4e3a\u9759\u6001\u5143\u7d20\u548c\u52a8\u6001\u5143\u7d20\uff08\u534a\u52a8\u6001\uff09\u4e24\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u9759\u6001\u573a\u666f\u5143\u7d20\u7684\u5206\u6790\u548c\u63d0\u53d6\u76f8\u5bf9\u8f83\u7b80\u5355\uff0c\u4e3b\u8981\u5305\u62ec\u9053\u8def\u3001\u57fa\u7840\u4ea4\u901a\u8bbe\u65bd\uff08\u4ea4\u901a\u6807\u7ebf\u3001\u4ea4\u901a\u6807\u5fd7\u3001\u4ea4\u901a\u4fe1\u53f7\u706f\u4ee5\u53ca\u62bd\u8c61\u7684\u4ea4\u901a\u89c4\u5219\u7b49\uff09\u3001\u5929\u6c14\u3001\u5149\u7167\u3001\u5176\u4ed6\u5efa\u7b51\u7269\u57fa\u7840\u8bbe\u65bd\u7b49\uff0c\u96be\u70b9\u5728\u4e8e\u4e00\u4e9b\u8fde\u7eed\u91cf\uff08\u5982\u5149\u7167\u548c\u96e8\u91cf\uff09\u7684\u53d6\u503c\u8303\u56f4\u5206\u6790\uff0c\u4ee5\u53ca\u4e0d\u540c\u9759\u6001\u573a\u666f\u5143\u7d20\u4e4b\u95f4\u7684\u7ea6\u675f\u5173\u7cfb\u3002<\/p>\n\n\n\n<p>\u52a8\u6001\u573a\u666f\u5143\u7d20\u7684\u63d0\u70bc\u548c\u8f6c\u5316\u76f8\u5bf9\u8f83\u4e3a\u56f0\u96be\u3002\u4e3b\u8981\u539f\u56e0\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9664\u4e86\u9759\u6001\u573a\u666f\u5143\u7d20\u56fa\u6709\u7684\u8fde\u7eed\u503c\u53d6\u503c\u8303\u56f4\u548c\u591a\u7ea6\u675f\u95ee\u9898\u5916\uff0c\u4ea4\u901a\u884c\u4e3a\u662f\u5728\u4e00\u4e2a\u9ad8\u5ea6\u590d\u6742\u7684\u5b58\u5728\u591a\u79cd\u7ea6\u675f\u6761\u4ef6\u7684\u73af\u5883\u4e0b\u7684\u9ad8\u4ea4\u4e92\u6027\u884c\u4e3a\uff1b<\/li>\n\n\n\n<li>\u4ea4\u901a\u53c2\u4e0e\u8005\u7c7b\u578b\u4f17\u591a\uff0c\u5305\u62ec\u91cd\u5361\u3001\u8f7b\u5361\u3001\u4e58\u7528\u8f66\u3001\u7535\u52a8\u8f66\u3001\u884c\u4eba\u7b49\uff0c\u6bcf\u79cd\u4ea4\u901a\u53c2\u4e0e\u8005\u90fd\u6709\u81ea\u5df1\u7279\u5b9a\u7684\u52a8\u6001\u884c\u4e3a\u6a21\u5f0f\uff1b<\/li>\n\n\n\n<li>\u5177\u4f53\u7684\u52a8\u6001\u884c\u4e3a\u6a21\u5f0f\u6709\u591a\u79cd\u7c7b\u578b\uff1a\u5e26\u65f6\u95f4\u6233\u7684\u8f68\u8ff9\u6570\u636e\u3001\u57fa\u4e8e\u884c\u4e3a\u5206\u7c7b\u7684\u6570\u636e\uff08\u5982\u8ddf\u8f66\u3001\u6362\u9053\u7b49\uff09\u3001\u57fa\u4e8eAgent\u7684\u52a8\u6001\u884c\u4e3a\uff1b<\/li>\n\n\n\n<li>\u5728\u5b9e\u9645\u63d0\u53d6\u52a8\u6001\u4ea4\u901a\u6570\u636e\u65f6\uff0c\u9700\u8981\u8003\u8651\u91c7\u96c6\u8f66\u81ea\u8eab\u7684\u5f71\u54cd\uff0c\u5373\u8003\u8651\u5904\u7406\u4ea4\u4e92\u6027\uff1b<\/li>\n\n\n\n<li>\u7b80\u5355\u52a8\u6001\u4ea4\u901a\u5143\u7d20\u7684\u5206\u6790\u4ee5\u53ca\u5927\u89c4\u6a21\u590d\u6742\u4ea4\u901a\u5143\u7d20\u7684\u63d0\u53d6\u548c\u5177\u4f53\u5f62\u5f0f\u6709\u8f83\u591a\u4e0d\u540c\uff0c\u9700\u8981\u4e0d\u540c\u7684\u6280\u672f\u624b\u6bb5\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4ee5\u4e0a\u90fd\u662f\u5728\u63d0\u53d6\u52a8\u6001\u573a\u666f\u5185\u5bb9\u65f6\u9700\u8981\u8003\u8651\u7684\u95ee\u9898\uff0c\u4e5f\u662f\u516c\u4f17\u53f7\u672a\u6765\u4f1a\u91cd\u70b9\u5c55\u5f00\u7684\u5185\u5bb9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"225\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-32.webp\" alt=\"\" class=\"wp-image-12500\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-32.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-32-300x94.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u52a8\u6001\u4ea4\u901a\u6d41\u793a\u610f<\/p>\n\n\n\n<p>1.2.3 \u573a\u666f\u63d0\u53d6pipline\u6700\u540e\u518d\u5927\u81f4\u56de\u987e\u4e00\u4e0b\u573a\u666f\u63d0\u53d6\u7684pipline\u3002\u57fa\u672c\u6d41\u7a0b\u662f\u6570\u636e\u91c7\u96c6\u3001\u6570\u636e\u63d0\u53d6\u548c\u6570\u636e\u8f6c\u5316\u3002\u4f20\u7edf\u7684\u6570\u636e\u91c7\u96c6\u5de5\u4f5c\uff0c\u5305\u62ec\u6570\u636e\u5b58\u50a8\u3001\u6570\u636e\u6807\u6ce8\u3001\u6570\u636e\u5206\u7c7b\u5728\u4f01\u4e1a\u4e2d\u5f80\u5f80\u7531\u57fa\u7840\u67b6\u6784\u90e8\u95e8\u8d1f\u8d23\uff0c\u8fd9\u90e8\u5206\u5728\u7406\u8bba\u4e0a\u548c\u5b9e\u8df5\u4e0a\u4e5f\u5df2\u7ecf\u76f8\u5f53\u6210\u719f\u4e86\u3002\u4eff\u771f\u9700\u8981\u91cd\u70b9\u5173\u6ce8\u7684\u662f\u5982\u4f55\u9ad8\u6548\u7684\u4ece\u6570\u636e\u4e2d\u63d0\u53d6\u6709\u4ef7\u503c\u7684\u573a\u666f\uff0c\u5e76\u5c06\u5176\u8f6c\u5316\u4e3a\u5177\u4f53\u7684\u573a\u666f\u683c\u5f0f\u3002<\/p>\n\n\n\n<p><strong><em><u>2\u3001<\/u><\/em>\u4eff\u771f\u7cfb\u7edf<\/strong><\/p>\n\n\n\n<p>\u4eff\u771f\u7cfb\u7edf\u662f\u6574\u4e2a\u4eff\u771f\u4f53\u7cfb\u4e2d\u627f\u4e0a\u542f\u4e0b\u7684\u90e8\u5206\u3002\u5b83\u64ad\u653e\u4eff\u771f\u573a\u666f\uff0c\u6d4b\u8bd5\u7814\u7a76\u5bf9\u8c61\uff0c\u901a\u8fc7\u4eff\u771f\u6570\u636e\u63a5\u53e3\u63d0\u4f9b\u88ab\u6d4b\u5bf9\u8c61\u7684\u8fd0\u884c\u8868\u73b0\u6570\u636e\u3002\u4eff\u771f\u7cfb\u7edf\u662f\u5f53\u4e4b\u65e0\u6127\u7684\u4eff\u771f\u4f53\u7cfb\u6838\u5fc3\uff0c\u524d\u9762\u629b\u51fa\u6709\u4e2a\u4eff\u771f\u8f6f\u4ef6\u5c31\u80fd\u8fdb\u884c\u4eff\u771f\u5de5\u4f5c\u7684\u89c2\u70b9\uff0c\u53ea\u662f\u4e3a\u4e86\u8bf4\u660e\u6784\u5efa\u4eff\u771f\u4f53\u7cfb\u7684\u4e0b\u9650\u3002\u4f46\u5728\u5b9e\u9645\u5e94\u7528\u5de5\u4f5c\u4e2d\uff0c\u4eff\u771f\u7cfb\u7edf\u7684\u6027\u80fd\u4e5f\u51b3\u5b9a\u7740\u6574\u4e2a\u4eff\u771f\u4f53\u7cfb\u7684\u4e0a\u9650\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u6765\u8c08\u8c08\u5e94\u8be5\u600e\u4e48\u770b\u5f85\u4eff\u771f\u7cfb\u7edf\uff0c\u56f4\u7ed5\u7740\u4eff\u771f\u7cfb\u7edf\u53c8\u8be5\u91cd\u70b9\u5173\u6ce8\u4ec0\u4e48\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p><strong>2.1 \u4eff\u771f\u8f6f\u4ef6 | \u88ab\u6d4b\u5bf9\u8c61 | \u901a\u4fe1\u73af\u5883<\/strong><\/p>\n\n\n\n<p>\u9996\u5148\u9700\u8981\u660e\u786e\u7684\u662f\uff0c\u4eff\u771f\u7cfb\u7edf\u4e0d\u6b62\u662f\u4eff\u771f\u8f6f\u4ef6\u3002\u4ece\u72ed\u4e49\u4e0a\u6765\u8bf4\uff0c\u5b83\u662f\u4eff\u771f\u8f6f\u4ef6\u3001\u901a\u4fe1\u73af\u5883\u4e0e\u88ab\u6d4b\u5bf9\u8c61\u7684\u96c6\u5408\uff1b\u4ece\u5e7f\u4e49\u4e0a\u6765\u8bf4\uff0c\u5b83\u53c8\u5305\u62ec\u4e91\u4eff\u771f\u73af\u5883\u7b49\u3002<\/p>\n\n\n\n<p>\u5176\u6b21\u9700\u8981\u660e\u786e\u7684\u662f\uff0c\u4eff\u771f\u7cfb\u7edf\u662f\u5177\u4f53\u7684\u5de5\u5177\uff0c\u662f\u201c\u672f\u201d\u3002\u800c\u5728\u6784\u5efa\u4eff\u771f\u7cfb\u7edf\u65f6\uff0c\u4f5c\u4e3a\u4eff\u771f\u5de5\u7a0b\u5e08\u5728\u5173\u6ce8\u201c\u672f\u201d\u4e4b\u4f59\uff0c\u4e5f\u9700\u8981\u5173\u6ce8\u201c\u9053\u201d\u7684\u90e8\u5206\u3002\u4e0d\u540c\u4eff\u771f\u8f6f\u4ef6\u3001\u4e0d\u540c\u7684\u901a\u4fe1\u73af\u5883\u3001\u4e0d\u540c\u7684\u88ab\u6d4b\u5bf9\u8c61\u90fd\u6709\u5404\u81ea\u7684\u7279\u70b9\uff0c\u4f5c\u4e3a\u4eff\u771f\u5de5\u7a0b\u5e08\u9700\u8981\u4e86\u89e3\u4e0d\u540c\u4eff\u771f\u6a21\u5757\u5404\u81ea\u7684\u5171\u6709\u5c5e\u6027\uff0c\u5e76\u5145\u5206\u7406\u89e3\u5e76\u5229\u7528\u4e0d\u540c\u5bf9\u8c61\u7684\u7279\u5f02\u6027\u3002\u5173\u952e\u662f\u505a\u5230\u517c\u5bb9\u5e76\u5305\uff0c\u8c03\u8282\u9700\u6c42\u548c\u5ba2\u89c2\u4eff\u771f\u8d44\u6e90\u4e4b\u95f4\u7684\u77db\u76fe\u3002<\/p>\n\n\n\n<p><strong>\u4eff\u771f\u8f6f\u4ef6<\/strong><\/p>\n\n\n\n<p>\u5728\u4e86\u89e3\u4e0d\u540c\u4eff\u771f\u8f6f\u4ef6\u7684\u5171\u6709\u5c5e\u6027\u65b9\u9762\uff0c\u53ef\u4ee5\u5b66\u4e60\u57fa\u672c\u7684pipline\u3002\u4ece\u6bd4\u8f83\u7c97\u7684\u7c92\u5ea6\u4e0a\u770b\uff0c\u57fa\u672c\u7684\u4eff\u771fpipline\u662f\u52a0\u8f7d\u9759\u6001\u5730\u56fe\u3001\u6784\u5efa\u52a8\u6001\u573a\u666f\u3001\u63a5\u5165\u88ab\u6d4b\u5bf9\u8c61\u3001\u5bfc\u51fa\u8fd0\u884c\u6570\u636e\u3001\u7ed3\u679c\u8bc4\u4ef7\u5904\u7406\u3002\u8fd9\u4e4b\u540e\u5c31\u57fa\u672c\u53ef\u4ee5\u4e0a\u624b\u4e00\u4e2a\u4eff\u771f\u8f6f\u4ef6\uff0c\u5269\u4f59\u7684\u6df1\u5165\u62d3\u5c55\u5de5\u4f5c\u4e5f\u53ef\u4ee5\u56f4\u7ed5\u6574\u4f53\u6d41\u7a0b\u5411\u5916\u5c55\u5f00\u3002<\/p>\n\n\n\n<p>\u5728\u4e86\u89e3\u4e0d\u540c\u4eff\u771f\u8f6f\u4ef6\u7684\u5dee\u5f02\u65b9\u9762\uff0c\u9700\u8981\u660e\u767d\u5e02\u9762\u4e0a\u5404\u7c7b\u8f6f\u4ef6\u5404\u81ea\u7684\u7279\u70b9\uff0c\u96c6\u4e2d\u7cbe\u529b\u662f\u6b63\u786e\u7684\uff0c\u4f46\u662f\u5c01\u95ed\u773c\u754c\u5e76\u4e0d\u53ef\u53d6\u3002\u5355\u5c31\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\u800c\u8a00\uff0cPrescan\u3001VTD\u3001Panosim\u300151simOne\u3001GaiA\u7b49\u5546\u4e1a\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\uff0cCARLA\u3001lgsvl\u3001Airsim\u7b49\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\uff0c\u7a0d\u5fae\u7c97\u7cd9\u4e00\u4e9b\u7684DeepDrive\u3001\u4e00\u4e9b\u57fa\u4e8eROS\u6784\u5efa\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5e73\u53f0\uff0c\u5c31\u90fd\u6709\u5404\u81ea\u7684\u53ef\u53d6\u4e4b\u5904\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"360\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-31.webp\" alt=\"\" class=\"wp-image-12499\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-31.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-31-300x150.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>CARLA Simulator<\/p>\n\n\n\n<p>\u53e6\u5916\uff0c\u8fd8\u6709\u4e00\u4e9b\u4e13\u7cbe\u4e8e\u7279\u5b9a\u529f\u80fd\u4eff\u771f\u7684\u8f6f\u4ef6\u3002\u5982\u5728\u4ea4\u901a\u6d41\u4eff\u771f\u65b9\u9762\u6709Vissim\u3001SUMO\u3001High-env\u7b49\uff1b\u5728\u52a8\u529b\u5b66\u4eff\u771f\u65b9\u9762\u6709CarSim\u3001Trucksim\u3001Carmaker\u7b49\u8f6f\u4ef6\uff1b\u5728\u9759\u6001\u573a\u666f\u4eff\u771f\u65b9\u9762\u6709\u4e00\u4e9b\u5927\u89c4\u6a21\u57ce\u5e02\u6784\u5efa\u4eff\u771f\u8f6f\u4ef6\uff1b\u5728\u6784\u5efa\u590d\u6742\u4ea4\u901a\u6d41\u573a\u666f\u65b9\u9762\u4e5f\u6709\u4e00\u4e9b\u8f6f\u4ef6\u3002\u8fd9\u4e9b\u8f6f\u4ef6\u90fd\u53ef\u4ee5\u7eb3\u5165\u5230\u6574\u4e2a\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u4f53\u7cfb\u91cc\u6765\u3002\u6211\u4eec\u4f1a\u4ee5\u540e\u4e5f\u4f1a\u91cd\u70b9\u5c55\u5f00\u4ecb\u7ecd\u5404\u8f6f\u4ef6\u7684\u4e0d\u540c\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"390\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-30.webp\" alt=\"\" class=\"wp-image-12496\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-30.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-30-300x163.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>SUMO Simulator<\/p>\n\n\n\n<p><strong>\u88ab\u6d4b\u5bf9\u8c61<\/strong>\u6839\u636e\u88ab\u6d4b\u5bf9\u8c61\u7684\u4e0d\u540c\uff0c\u4e1a\u754c\u5e38\u7528\u7684\u4eff\u771f\u5de5\u5177\u94fe\u5305\u62ec\u6a21\u578b\u5728\u73af\uff08MIL\uff09\u3001\u8f6f\u4ef6\u5728\u73af\uff08SIL\uff09\u3001\u786c\u4ef6\u5728\u73af\uff08HIL\uff09\u3001\u6574\u8f66\u5728\u73af\uff08VIL\uff09\u3002\u76ee\u524dSIL\u5728\u5404\u7c7b\u516c\u53f8\u5e94\u7528\u8303\u56f4\u6700\u5e7f\uff0c\u4f46\u5176\u4ed6\u5404\u7c7b\u4e5f\u90fd\u6709\u81ea\u5df1\u7684\u72ec\u7279\u4f18\u52bf\u548c\u6d4b\u8bd5\u5fc5\u8981\u6027\uff1b\u6309\u7167\u81ea\u7136\u5f00\u53d1\u7684\u6d41\u7a0b\uff0c\u5b8c\u6574\u7684\u6d4b\u8bd5\u8fc7\u7a0b\u4e5f\u786e\u5b9e\u9700\u8981\u517c\u987e\u8fd9\u51e0\u79cd\u5e73\u53f0\u3002\u7ad9\u5728\u5177\u4f53\u5b9e\u8df5\u89d2\u5ea6\uff0c\u6bcf\u79cd\u5728\u73af\u4eff\u771f\u5e73\u53f0\u6709\u9002\u914d\u4e8e\u81ea\u5df1\u7684\u4eff\u771f\u8f6f\u4ef6\u548c\u6280\u672f\u6808\uff0c\u5176\u4e2d\u90e8\u5206\u8981\u638c\u63e1\u7684\u6280\u672f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>MIL\u4e0eSIL\u76f8\u4f3c\uff0c\u6700\u57fa\u7840\u7684\u95ee\u9898\u662f\u901a\u4fe1\u73af\u5883\u6784\u5efa\uff0c\u5f80\u4e0a\u8fdb\u4e00\u6b65\u5219\u9700\u8981\u7814\u7a76\u4eff\u771f\u6548\u7387\u3001\u5b9e\u65f6\u6027\u3001\u540c\u6b65\u6027\u7b49\uff1b<\/li>\n\n\n\n<li>HIL\u9700\u8981\u8865\u5145\u5b9e\u65f6\u673a\u4e0e\u786c\u4ef6\u901a\u4fe1\u63a5\u53e3\u7684\u77e5\u8bc6\uff1b<\/li>\n\n\n\n<li>VIL\u662f\u5927\u5de5\u7a0b\uff0c\u9700\u8981\u6295\u5165\u5927\u91cf\u4eba\u529b\u7269\u529b\u6765\u642d\u5efa\u4e13\u95e8\u7684\u5b9e\u9a8c\u5ba4\uff0c\u76ee\u524d\u4e00\u822c\u90fd\u5e94\u7528\u4e8e\u9a7e\u9a76\u5458\u5728\u73af\u4eff\u771f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5404\u79cd\u6280\u672f\u6808\u4e5f\u662f\u6211\u4eec\u672a\u6765\u8981\u63a2\u8ba8\u7684\u91cd\u70b9\u4e4b\u4e00\uff0cSIL\u4f1a\u662f\u4e3b\u4f53\uff0c\u5176\u4ed6\u51e0\u79cd\u4f18\u5148\u7ea7\u4f1a\u653e\u7684\u4f4e\u4e00\u4e9b\u3002<\/p>\n\n\n\n<p><strong>\u901a\u4fe1\u73af\u5883<\/strong><\/p>\n\n\n\n<p>\u6700\u540e\u518d\u6765\u8bf4\u8bf4\u901a\u4fe1\u73af\u5883\uff0c\u5373\u4eff\u771f\u8f6f\u4ef6\u548c\u88ab\u6d4b\u5bf9\u8c61\u4e4b\u95f4\u7684\u4fe1\u606f\u4f20\u8f93\u73af\u5883\u3002\u5176\u57fa\u7840\u662f\u5229\u7528\u8ba1\u7b97\u673a\u7f51\u7edc\u7684\u76f8\u5173\u77e5\u8bc6\u5b8c\u6210\u4fe1\u606f\u4f20\u8f93\u5de5\u4f5c\uff0c\u4e5f\u5373\u5404\u79cdJD\u63cf\u8ff0\u4e2d\u63d0\u5230\u7684\u5f00\u53d1\u4eff\u771f\u63a5\u53e3\u3002<\/p>\n\n\n\n<p>\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5\u901a\u8fc7\u901a\u4fe1\u4e2d\u95f4\u4ef6\u5904\u7406\u4eff\u771f\u6570\u636e\uff0c\u5e76\u5c06\u5176\u8f6c\u5316\u4e3a\u88ab\u6d4b\u5bf9\u8c61\u6240\u9700\u7684\u6570\u636e\u683c\u5f0f\u8fdb\u884c\u4f20\u8f93\u3002\u4e2d\u95f4\u4ef6\u7c7b\u578b\u6709\u5f88\u591a\uff0c\u5e38\u7528\u7684\u53ef\u80fd\u6709\u57fa\u4e8eROS\u7684\u4e2d\u95f4\u4ef6\u3001\u57fa\u4e8eAutoSAR\u7684\u4e2d\u95f4\u4ef6\u7b49\u3002\u5173\u952e\u95ee\u9898\u662f\u7ed3\u5408\u5177\u4f53\u6d4b\u8bd5\u9700\u6c42\u9009\u62e9\u5408\u9002\u7684\u4e2d\u95f4\u4ef6\uff1b\u4ee5\u53ca\u5982\u4f55\u51cf\u5c11\u4eff\u771f\u6d88\u606f\u7684\u5ef6\u8fdf\u548c\u4e22\u5931\u4ee5\u4fdd\u8bc1\u901a\u4fe1\u6548\u7387\uff0c\u8fd9\u548c\u4eff\u771f\u7684\u53ef\u7528\u5ea6\u5bc6\u5207\u76f8\u5173\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c\u4f18\u79c0\u7684\u4eff\u771f\u5de5\u7a0b\u5e08\u9664\u4e86\u9700\u8981\u6709\u4e3a\u8f6f\u4ef6\u589e\u52a0\u4eff\u771f\u529f\u80fd\u7684\u80fd\u529b\u5916\uff0c\u66f4\u5173\u952e\u7684\u662f\u9700\u8981\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6709\u6574\u4f53\u5b8f\u89c2\u4e0a\u548c\u5c40\u90e8\u5fae\u89c2\u4e0a\u7684\u7406\u89e3\uff0c\u5e76\u80fd\u5bf9\u63a5\u5404\u65b9\u5176\u4ed6\u5de5\u7a0b\u5e08\u7684\u9700\u6c42\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u5982\u679c\u662f\u57fa\u4e8e\u6210\u719f\u5546\u4e1a\u4eff\u771f\u8f6f\u4ef6\u8fdb\u884c\u5de5\u4f5c\uff0c\u5c31\u56f4\u7ed5\u7740\u8bf4\u660e\u4e66\u3001\u6559\u7a0b\u4ee5\u53ca\u57f9\u8bad\uff0c\u540c\u65f6\u4e0e\u4eff\u771f\u8f6f\u4ef6\u7684\u6280\u672f\u652f\u6301\u5de5\u7a0b\u5e08\u65f6\u523b\u4fdd\u6301\u4ea4\u6d41\uff0c\u5e76\u4e0d\u65ad\u79ef\u7d2f\u81ea\u5df1\u7684\u5e94\u7528\u80fd\u529b\u3002\u5982\u679c\u662f\u57fa\u4e8e\u5f00\u6e90\u4eff\u771f\u8f6f\u4ef6\u8fdb\u884c\u5f00\u53d1\uff0c\u5219\u9700\u8981\u65f6\u523b\u5173\u6ce8\u8f6f\u4ef6\u7684\u65b0\u7248\u672c\u548c\u65b0\u529f\u80fd\uff0c\u591a\u5237issue\u4ee5\u89e3\u60d1\u3002\u5f53\u7136\uff0c\u4e5f\u53ef\u65f6\u523b\u5173\u6ce8\u501f\u52a9\u4e00\u4e9b\u5178\u578b\u7684\u57fa\u4e8e\u4eff\u771f\u5e73\u53f0\u7684\u4f18\u79c0\u9879\u76ee\u63d0\u5347\u81ea\u5df1\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>2.2 \u9759\u6001\u73af\u5883\u6a21\u5757 | \u4ea4\u901a\u6d41\u6a21\u5757 | \u4f20\u611f\u5668\u6a21\u5757 | \u52a8\u529b\u5b66\u6a21\u5757 | \u6570\u636e\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u5728\u4e86\u89e3\u57fa\u672c\u4eff\u771f\u7cfb\u7edf\u7684\u6784\u6210\u540e\uff0c\u8fd8\u662f\u9700\u8981\u518d\u56de\u5230\u4eff\u771f\u8f6f\u4ef6\u672c\u8eab\u3002\u53ea\u6709\u5728\u4e86\u89e3\u4eff\u771f\u8f6f\u4ef6\u7684\u673a\u7406\u5e76\u6e05\u695a\u76f8\u5e94\u8f6f\u4ef6\u7684\u7f3a\u9677\u4e4b\u540e\uff0c\u624d\u80fd\u9ad8\u6548\u7684\u5bf9\u63a5\u5404\u79cd\u6d4b\u8bd5\u9700\u6c42\u4ee5\u53ca\u9488\u5bf9\u6027\u5730\u5f00\u53d1\u76f8\u5e94\u529f\u80fd\u3002<\/p>\n\n\n\n<p>\u4ee5\u6211\u4e2a\u4eba\u7684\u7406\u89e3\uff0c\u4e00\u4e2a\u5b8c\u6574\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\u4ece\u903b\u8f91\u4e0a\u5305\u62ec\u9759\u6001\u73af\u5883\u6a21\u5757\uff0c\u4ea4\u901a\u6d41\u6a21\u5757 \uff0c\u4f20\u611f\u5668\u6a21\u5757\uff0c\u52a8\u529b\u5b66\u6a21\u5757\uff0c\u6570\u636e\u6a21\u5757\uff08\u5305\u62ec\u573a\u666f\u6a21\u5757\uff09\u3002\u9488\u5bf9\u6bcf\u4e2a\u6a21\u5757\u90fd\u6709\u4e00\u4e9b\u4e9f\u9700\u89e3\u51b3\u7684\u5173\u952e\u4eff\u771f\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u9759\u6001\u73af\u5883\u6a21\u5757<\/strong>\u9759\u6001\u73af\u5883\u6a21\u5757\u6307\u6784\u5efa\u3001\u7ef4\u62a4\u9759\u6001\u573a\u666f\u7684\u6a21\u5757\u3002\u5177\u4f53\u9700\u8981\u7684\u9759\u6001\u5143\u7d20\u9700\u8981\u540c\u611f\u77e5\u7ec4\u8fdb\u884c\u5bf9\u63a5\uff0c\u4e5f\u53ef\u4ee5\u7ed3\u5408\u5177\u4f53\u7684\u4e13\u5bb6\u77e5\u8bc6\u63d0\u53d6\u5206\u6790\u4ea7\u54c1ODD\u3002\u4e4b\u540e\u9700\u8981\u8bbe\u8ba1\u7b26\u5408\u771f\u5b9e\u60c5\u51b5\u7684\u573a\u666f\u5143\u7d20\u5e76\u4ee5\u5408\u7406\u7684\u65b9\u6cd5\u8fdb\u884c\u6cdb\u5316\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e00\u6a21\u5757\u7684\u5173\u952e\u95ee\u9898\u5728\u4e8e\u9759\u6001\u73af\u5883\u7684\u771f\u5b9e\u5ea6\u4fdd\u969c\u4ee5\u53ca\u81ea\u52a8\u5316\u6784\u5efa\u5927\u89c4\u6a21\u9759\u6001\u573a\u666f\u7684\u65b9\u6cd5\u4e24\u65b9\u9762\u3002<\/p>\n\n\n\n<p><strong>\u4ea4\u901a\u6d41\u6a21\u5757<\/strong>\u5bf9\u5e94\u4e8e\u52a8\u6001\u573a\u666f\u7684\u6982\u5ff5\uff0c\u53c2\u800351VR\u516c\u4f17\u53f7\u7684\u603b\u7ed3\uff0c\u9700\u8981\u91cd\u70b9\u5173\u6ce8\u4ee5\u4e0b\u51e0\u79cd\u52a8\u6001\u573a\u666f\u6784\u5efa\u65b9\u5f0f\u3002\u6bcf\u79cd\u6784\u5efa\u65b9\u5f0f\u90fd\u6709\u4e00\u6574\u5957\u57fa\u7840\u7406\u8bba\u548c\u5b9e\u8df5\u624b\u6bb5\uff0c\u4e4b\u540e\u6211\u4eec\u4f1a\u4e00\u4e00\u5c55\u5f00\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5178\u578b\u4ea4\u901a\u884c\u4e3a\u5efa\u6a21\uff0c\u5982\u542f\u52a8\u3001\u8ddf\u8f66\u3001\u6362\u9053\u3001\u8d85\u8f66\u3001\u5341\u5b57\u8def\u53e3\u5904\u7406\u7b49\u3002\u8fd9\u90e8\u5206\u4e3b\u8981\u53ef\u4ee5\u4f7f\u7528DBM\u76f8\u5173\u65b9\u6cd5\u8fdb\u884c\u5206\u6790\u3002<\/li>\n\n\n\n<li>\u5229\u7528AI\u6280\u672f\u751f\u6210\u9a7e\u9a76\u6a21\u578b\uff0c\u5728\u865a\u62df\u4e16\u754c\u4e2d\u8bbe\u7f6eAI\u8f66\u8f86\u81ea\u52a8\u884c\u9a76\uff0cAI\u53ef\u4ee5\u5b66\u4e60\u4ea4\u901a\u6d41\u7684\u7279\u6027\uff0c\u5c24\u5176\u5728\u884c\u4eba\u4eff\u771f\u65b9\u9762\u6709\u6bd4\u8f83\u597d\u7684\u6210\u6548\u3002\u8fd9\u90e8\u5206\u4e3b\u8981\u53ef\u4ee5\u4f7f\u7528\u6a21\u4eff\u5b66\u4e60\u3001\u5f3a\u5316\u5b66\u4e60\u6765\u5b8c\u6210\uff1b<\/li>\n\n\n\n<li>\u5bfc\u5165\u4ea4\u901a\u5b66\u4e2d\u7684\u4ea4\u901a\u6d41\u6a21\u578b\uff0c\u5e76\u5f15\u5165\u6570\u5b66\u6982\u7387\u5206\u5e03\u6570\u5b66\u6a21\u578b\u3002\u8fd9\u6837\u7684\u4ea4\u901a\u6d41\u6a21\u578b\u5305\u62ec\u5b8f\u89c2\u4ea4\u901a\u6d41\u6a21\u578b\u548c\u5fae\u89c2\u6a21\u578b\uff0c\u76f8\u5e94\u7684\u6570\u5b66\u6982\u7387\u5206\u5e03\u6a21\u578b\u5e94\u8be5\u4ee5\u9ad8\u65af\u6a21\u578b\u4e3a\u4e3b\uff0c\u8fd9\u90e8\u5206\u53ef\u4ee5\u901a\u8fc7\u4e0eSUMO\/Vissim\u8054\u5408\u4eff\u771f\u5b8c\u6210\uff0c\u4e5f\u53ef\u76f4\u63a5\u6784\u5efa\u4ea4\u901a\u6d41\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5c06\u771f\u4eba\u5f00\u8f66\u7684\u6570\u636e\u5bfc\u5165\u4ea4\u901a\u6d41\u4e2d\uff0c\u7814\u7a76rare-events simulation\uff0c\u4e3b\u8981\u5229\u7528\u9a7e\u9a76\u6a21\u62df\u5668\u5b9e\u73b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"298\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-33.webp\" alt=\"\" class=\"wp-image-12501\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-33.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-33-300x124.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>Agent-based traffic simulation<\/p>\n\n\n\n<p><strong>\u4f20\u611f\u5668\u6a21\u5757<\/strong>\u4f20\u611f\u5668\u6a21\u5757\u662f\u8fde\u63a5\u5916\u754c\u73af\u5883\u548c\u88ab\u6d4b\u8f66\u8f86\u7684\u5a92\u4ecb\u3002\u9488\u5bf9\u4e0d\u540c\u7684\u88ab\u6d4b\u5bf9\u8c61\uff0c\u6709\u4e0d\u540c\u7684\u4f20\u611f\u5668\u6a21\u5757\u4f7f\u7528\u65b9\u6cd5\u3002\u5728\u8fdb\u884c\u51b3\u7b56\u89c4\u5212\u7cfb\u7edf\u6d4b\u8bd5\u65f6\uff0c\u53ef\u4f7f\u7528\u5bf9\u8c61\u7ea7\u4f20\u611f\u5668\uff0c\u7531\u6b64\u53ef\u4ee5\u907f\u514d\u4f20\u611f\u5668\u6a21\u578b\u7684\u4e0d\u51c6\u786e\u5e26\u6765\u7684\u5927\u90e8\u5206\u540e\u7eed\u95ee\u9898\u3002\u5bf9\u4e8e\u9700\u8981\u539f\u59cb\u4eff\u771f\u4fe1\u606f\uff08\u5982\u56fe\u50cf\u3001\u70b9\u4e91\uff09\u7684\u88ab\u6d4b\u7cfb\u7edf\uff0c\u5219\u9700\u8981\u57fa\u4e8e\u5b9e\u9645\u4ea7\u54c1\u60c5\u51b5\u7cbe\u786e\u6807\u5b9a\u4f20\u611f\u5668\u53c2\u6570\uff0c\u5982\u5bf9\u4e8e\u56fe\u50cf\u4f20\u611f\u5668\u6807\u5b9a\u4f4d\u7f6e\u5916\u53c2\u548c\u7578\u53d8\u7cfb\u6570\u7b49\u5185\u53c2\uff0c\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7b49\u4f20\u611f\u5668\uff0c\u6807\u5b9a\u7ebf\u6570\u3001\u65cb\u8f6c\u901f\u5ea6\u7b49\u3002<\/p>\n\n\n\n<p>\u4f20\u611f\u5668\u5efa\u6a21\u662f\u4e2a\u5904\u7406\u96be\u5ea6\u5f88\u9ad8\u7684\u6a21\u5757\uff0c\u76ee\u524d\u6709\u7269\u7406\u5efa\u6a21\u548c\u7edf\u8ba1\u5efa\u6a21\u4e24\u79cd\u5178\u578b\u7684\u4f20\u611f\u5668\u5efa\u6a21\u65b9\u6cd5\u3002\u7269\u7406\u5efa\u6a21\u96be\u5ea6\u6bd4\u8f83\u9ad8\uff0c\u4e14\u9700\u8981\u5927\u91cf\u7684\u8ba1\u7b97\u8d44\u6e90\uff1b\u7edf\u8ba1\u5efa\u6a21\u65b9\u6cd5\u59cb\u7ec8\u5b58\u5728\u771f\u5b9e\u5ea6gap\u3002\u5982\u4f55\u5f25\u8865\u8fd9\u4e24\u79cd\u6a21\u578b\u7684\u7f3a\u9677\u662f\u9700\u8981\u6df1\u5165\u8ba8\u8bba\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u4e00\u4e2a\u53ef\u4ee5\u501f\u9274\u7684\u624b\u6bb5\u6765\u81eawaymo\uff0c\u5bf9\u4e8e\u611f\u77e5\u4eff\u771f\u7684\u76f8\u5173\u95ee\u9898\uff0c\u5b83\u4eec\u4f3c\u4e4e\u6ca1\u6709\u76f4\u63a5\u8fdb\u884c\u4f20\u611f\u5668\u5efa\u6a21\uff0c\u800c\u662f\u91c7\u7528GAN\u7684\u65b9\u5f0f\u89e3\u51b3\u3002\u5982\u679c\u5fc5\u987b\u8981\u7528\u5230\u4f20\u611f\u5668\u5efa\u6a21\uff0c\u5bf9\u4e8e\u7edf\u8ba1\u5efa\u6a21\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u7cbe\u5fc3\u8bbe\u8ba1\u566a\u58f0\u53c2\u6570\u5e76\u901a\u8fc7\u6570\u636e\u5904\u7406\u65b9\u6cd5\u89e3\u51b3\u7531\u771f\u5b9e\u7a0b\u5ea6\u5e26\u6765\u7684\u4eff\u771f\u7ed3\u679c\u5dee\u5f02\u3002\u5bf9\u4e8e\u7269\u7406\u5efa\u6a21\uff0c\u5219\u8981\u770b\u5404\u4eff\u771f\u5668\u7684\u786c\u5b9e\u529b\u3002\u4f46\u4e0d\u7ba1\u600e\u4e48\u6837\uff0c\u9996\u8981\u7684\u662f\u5904\u7406\u771f\u5b9e\u7a0b\u5ea6\u7684\u95ee\u9898\uff0c\u5176\u6b21\u662f\u8003\u8651\u8ba1\u7b97\u8d44\u6e90\u7684\u7ea6\u675f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"237\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-29.webp\" alt=\"\" class=\"wp-image-12495\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-29.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-29-300x99.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>Surfel GAN<\/p>\n\n\n\n<p><strong>\u52a8\u529b\u5b66\u6a21\u5757<\/strong>\u8fd9\u90e8\u5206\u7684\u91cd\u8981\u6027\u4e0d\u518d\u591a\u63d0\u3002\u5b83\u5728\u4f20\u7edf\u8f66\u8f86\u4eff\u771f\u5de5\u4f5c\u4e2d\u5360\u6709\u975e\u5e38\u91cd\u8981\u7684\u5730\u4f4d\uff0c\u76f8\u5173\u7684\u7406\u8bba\u548c\u5b9e\u8df5\u5de5\u4f5c\u4e5f\u5df2\u975e\u5e38\u6210\u719f\u3002\u4f46\u4e0d\u80fd\u56e0\u4e3a\u5f85\u653b\u514b\u7684\u5de5\u7a0b\u95ee\u9898\u6bd4\u8f83\u5c11\u5c31\u5ffd\u7565\u5b83\uff0c\u76f8\u53cd\uff0c\u5fc5\u987b\u9ad8\u5ea6\u91cd\u89c6\u52a8\u529b\u5b66\u4eff\u771f\u7684\u7ed3\u679c\uff0c\u56e0\u4e3a\u5b83\u7684\u7cbe\u786e\u5ea6\u53ef\u4ee5\u76f4\u63a5\u5f71\u54cd\u4eff\u771f\u7ed3\u679c\u7684\u53ef\u7528\u7a0b\u5ea6\u3002\u8fd9\u90e8\u5206\u7684\u5de5\u4f5c\u4e3b\u8981\u9700\u8003\u8651\u7684\u662f\u96c6\u6210\u52a8\u529b\u5b66\u4eff\u771f\u7684\u65b9\u5f0f\uff0c\u662f\u5185\u90e8\u652f\u6301\u8fd8\u662f\u901a\u8fc7\u4e0eCarSim\u7b49\u8fdb\u884c\u8054\u4eff\u652f\u6301\u9ad8\u7cbe\u5ea6\u52a8\u529b\u5b66\u4eff\u771f\uff1f\u8981\u4e0d\u8981\u8003\u8651\u5b9e\u65f6\u6027\u95ee\u9898\uff1f<\/p>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u5bf9\u4e8e\u52a8\u529b\u5b66\u4eff\u771f\u6a21\u5757\uff0c\u8981\u719f\u7ec3\u638c\u63e1CarSim\u548cTruckSim\u7b49\u52a8\u529b\u5b66\u4eff\u771f\u8f6f\u4ef6\u548c\u5404\u79cd\u52a8\u529b\u5b66\u6a21\u578b\uff0c\u638c\u63e1\u8054\u4eff\u65b9\u6cd5\uff0c\u52a8\u529b\u5b66\u6a21\u578b\u6807\u5b9a\u65b9\u6cd5\u3002\u53e6\u5916\uff0c\u767e\u5ea6\u63d0\u4f9b\u4e86\u4e00\u79cd\u57fa\u4e8e\u6570\u636e\u7684\u52a8\u529b\u5b66\u5efa\u6a21\u65b9\u6cd5\uff0c\u4e5f\u6709\u5f88\u9ad8\u7684\u5b9e\u7528\u4ef7\u503c\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u7ba1\u7406\u6a21\u5757<\/strong>\u672c\u6587\u6307\u7ba1\u7406\u6574\u4e2a\u4eff\u771f\u6570\u636epipline\u7684\u6a21\u5757\uff0c\u5b83\u7684\u5185\u6db5\u8986\u76d6\u8303\u56f4\u5f88\u5e7f\uff0c\u5305\u62ec\u573a\u666f\u89e3\u6790\u3001\u4eff\u771f\u8fc7\u7a0b\u8bb0\u5f55\u3001\u8fc7\u7a0b\u56de\u653e\u3001\u6570\u636e\u5bfc\u51fa\u7b49\u7b49\u3002\u6bcf\u4e2a\u5177\u4f53\u529f\u80fd\u90fd\u53ef\u4ee5\u4e13\u95e8\u62ff\u51fa\u4e00\u7bc7\u6587\u7ae0\u6765\u8c08\uff0c\u8fd9\u90e8\u5206\u4e5f\u975e\u5e38\u91cd\u8981\uff0c\u4f46\u9650\u4e8e\u7bc7\u5e45\u5728\u6b64\u5c31\u4e0d\u5177\u4f53\u5c55\u5f00\u4e86\u3002<\/p>\n\n\n\n<p><strong>2.3 \u672c\u5730\u4eff\u771f | \u5927\u89c4\u6a21\u4e91\u4eff\u771f | \u7a00\u6709\u4e8b\u4ef6\u4eff\u771f<\/strong><\/p>\n\n\n\n<p>\u4eff\u771f\u53ef\u4ee5\u964d\u4f4e\u65f6\u95f4\u6210\u672c\u3001\u7ecf\u6d4e\u6210\u672c\uff0c\u63d0\u9ad8\u6d4b\u8bd5\u7684\u5b89\u5168\u6027\u3002\u4f46\u662f\u8981\u4fdd\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\uff0c\u9700\u8981\u8fdb\u884c\u975e\u5e38\u591a\u7684\u6d4b\u8bd5\u91cc\u7a0b\u3002\u5373\u4f7f\u91c7\u7528\u573a\u666f\u6d4b\u8bd5\u7684\u65b9\u6cd5\u4f5c\u4e3a\u8865\u5145\uff0c\u4f46\u7531\u4e8e\u53ef\u80fd\u7684\u573a\u666f\u53c2\u6570\u8f83\u591a\u4ee5\u53ca\u90e8\u5206\u53c2\u6570\u5177\u6709\u8fde\u7eed\u6027\uff0c\u56e0\u6b64\u5f88\u5bb9\u6613\u5f62\u6210\u6d77\u91cf\u7684\u6d4b\u8bd5\u573a\u666f\u3002\u5728\u8fd9\u6837\u7684\u524d\u63d0\u6761\u4ef6\u4e0b\uff0c\u53ea\u7528\u51e0\u4e2a\u672c\u5730\u4eff\u771f\u7cfb\u7edf\u7684\u8bdd\uff0c\u8dd1\u5b8c\u8fd9\u4e9b\u573a\u666f\u7684\u65f6\u95f4\u6210\u672c\u662f\u4e0d\u53ef\u63a5\u53d7\u7684\u3002\u80fd\u5426\u5408\u7406\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u51b3\u5b9a\u7740\u4eff\u771f\u4f53\u7cfb\u80fd\u4e0d\u80fd\u53d1\u6325\u6700\u5927\u6548\u80fd\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\u5b66\u672f\u754c\/\u5de5\u4e1a\u754c\u6709\u4ee5\u4e0b\u51e0\u4e2a\u4e3b\u6d41\u65b9\u6848\u3002\u5176\u4e00\u662f\u5927\u89c4\u6a21\u4e91\u4eff\u771f\uff0c\u8fd9\u4e5f\u662f\u5de5\u4e1a\u754c\u6b63\u5728\u63a8\u52a8\u7684\u4e3b\u8981\u8def\u5f84\uff0c\u901a\u8fc7\u4f7f\u7528\u4e91\u8d44\u6e90\u8fdb\u884c\u5e76\u884c\u8ba1\u7b97\uff0c\u5e76\u5728\u4e0d\u540cagent\u4e4b\u95f4\u4ea4\u6362\u4eff\u771f\u7ed3\u679c\u4ee5\u63d0\u9ad8\u6548\u7387\u3002\u53e6\u5916\u4e00\u79cd\u7531\u5b66\u672f\u754c\u91cd\u70b9\u63a8\u52a8\u7684\u65b9\u6cd5\uff0c\u5219\u662f\u501f\u52a9\u573a\u666f\u7684\u6982\u5ff5\uff0c\u901a\u8fc7\u8bbe\u8ba1\u4e00\u4e9b\u7b56\u7565\u7f29\u5c11\u65e0\u98ce\u9669\u91cc\u7a0b\uff0c\u6216\u8005\u63d0\u9ad8\u80fd\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f62\u6210\u7279\u5b9a\u6311\u6218\u7684\u573a\u666f\u7684\u751f\u6210\u6548\u7387\uff0c\u5373\u901a\u8fc7\u201c\u538b\u529b\u6d4b\u8bd5\u201d\u63d0\u9ad8\u4eff\u771f\u6548\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"281\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-34.webp\" alt=\"\" class=\"wp-image-12502\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-34.webp 500w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-34-300x169.webp 300w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/figure>\n\n\n\n<p>Sim Cloud of TAD<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"153\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-23.png\" alt=\"\" class=\"wp-image-12494\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-23.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-23-300x64.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>One Case of Stress Test<\/p>\n\n\n\n<p><strong><em><u>3\u3001<\/u><\/em>\u4eff\u771f\u8bc4\u4ef7<\/strong><\/p>\n\n\n\n<p>\u6700\u540e\u8bf4\u8bf4\u6574\u4e2a\u4eff\u771f\u4f53\u7cfb\u4e2d\u6700\u5bb9\u6613\u88ab\u5ffd\u7565\u7684\u90e8\u5206\uff0c\u57fa\u4e8e\u4eff\u771f\u7684\u8bc4\u4ef7\u3002\u60f3\u8c61\u8fd9\u6837\u4e00\u4e2a\u9700\u6c42\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u66f4\u65b0\u4e86\u4e00\u4e2a\u91cd\u8981\u529f\u80fd\uff0c\u76f8\u5e94\u7684\u7248\u672c\u4eceV0.8\u66f4\u65b0\u5230V0.9\uff0c\u73b0\u5728\u9700\u8981\u8fdb\u884c\u56de\u5f52\u6d4b\u8bd5\u4ee5\u4fdd\u8bc1\u65b0\u7684\u4fee\u6539\u5728\u89e3\u51b3\u65b0\u95ee\u9898\u7684\u540c\u65f6\uff0c\u4e0d\u5bf9\u7cfb\u7edf\u5df2\u7ecf\u88ab\u9a8c\u8bc1\u8fc7\u7684\u80fd\u529b\u9020\u6210\u5f71\u54cd\u3002\u9700\u8981\u600e\u4e48\u505a\uff1f<\/p>\n\n\n\n<p>\u8fd9\u65f6\u9996\u8981\u662f\u8981\u51c6\u5907\u4e00\u4e2a\u201c\u6807\u51c6\u573a\u666f\u5e93\u201d\uff0c\u8fd9\u4e2a\u573a\u666f\u5e93\u4e5f\u5fc5\u987b\u88ab\u7cbe\u5fc3\u8bbe\u8ba1\uff0c\u6b64\u5904\u5148\u4e0d\u5177\u4f53\u5c55\u5f00\u3002\u8003\u8651\u53e6\u5916\u4e00\u4e2a\u95ee\u9898\uff0c\u5982\u4f55\u4fdd\u8bc1\u7cfb\u7edf\u8fc7\u4e86\u8fd9\u4e2a\u573a\u666f\u5e93\uff1f\u7528pass\/fail\u7684\u4e8c\u5143\u6307\u6807\uff0c\u6216\u8005\u8fdd\u53cd\u4ea4\u901a\u89c4\u5219\u7684\u6b21\u6570? \u8fd9\u79cd\u6307\u6807\u662f\u6709\u5c40\u9650\u6027\u7684\u3002\u6700\u5927\u7684\u95ee\u9898\u5728\u4e8e\uff0c\u7531\u4e8e\u4eff\u771f\u6d4b\u8bd5\u548c\u5b9e\u8f66\u6d4b\u8bd5\u7ed3\u679c\u7684\u5dee\u5f02\u6027\uff0c\u5355\u7eaf\u7684\u4e8c\u5143\u6307\u6807\u4f1a\u50ac\u751f\u5927\u91cf\u7684\u5047\u9634\u6027\u3001\u5047\u9633\u6027\u7ed3\u679c\uff0c\u8fdb\u800c\u9020\u6210\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u98ce\u9669\u3002\u56e0\u6b64\u6211\u4eec\u9700\u8981\u5efa\u7acb\u4e00\u4e2a\u66f4\u5408\u7406\u7684\u8bc4\u4ef7\u4f53\u7cfb\uff0c\u8bbe\u8ba1\u5e26\u6709\u8fde\u7eed\u503c\u5c5e\u6027\u7684\u8bc4\u4ef7\u6307\u6807\uff0c\u901a\u8fc7\u8bc4\u4f30\u201c\u8ddd\u79bb\u201d\u6765\u8bc4\u4f30\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u4eff\u771f\u8bc4\u4ef7\u6307\u6807\u7684\u8bbe\u8ba1\u9700\u8981\u7cbe\u786e\u5bf9\u63a5\u4ea7\u54c1\u9700\u6c42\u3002\u4e0d\u540c\u7684\u7b97\u6cd5\uff0c\u4e0d\u540c\u7684\u7cfb\u7edf\u6709\u81ea\u5df1\u7684\u7279\u5b9a\u6307\u6807\uff0c\u8fd9\u4e9b\u53ef\u7075\u6d3b\u53d1\u6325\u7684\u70b9\u6bd4\u8f83\u5c11\uff0c\u5173\u952e\u662f\u5bf9\u63a5\u597d\u5f00\u53d1\u5de5\u7a0b\u5e08\u7684\u5177\u4f53\u9700\u6c42\uff1b\u9762\u5411\u7b2c\u4e09\u65b9\u7684\u8bc4\u4ef7\u4f53\u7cfb\u5219\u76f8\u5bf9\u66f4\u5177\u7075\u6d3b\u6027\uff0c\u53ef\u4ee5\u8bbe\u8ba1\u9762\u5411\u5b89\u5168\u6027\u3001\u8212\u9002\u6027\u3001\u7ecf\u6d4e\u6027\u7b49\u7ef4\u5ea6\u7684\u5177\u4f53\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u8bc4\u4ef7\u4f53\u7cfb\u662f\u5fc5\u987b\u7cbe\u5fc3\u8bbe\u8ba1\u7684\uff0c\u56e0\u4e3a\u5b83\u662f\u8bc4\u4f30\u8fed\u4ee3\u540e\u7684\u7cfb\u7edf\u6027\u80fd\u662f\u5426\u53d8\u597d\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<p><strong><em><u>4\u3001<\/u><\/em>\u4e3b\u8981\u6311\u6218<\/strong><\/p>\n\n\n\n<p>\u5728\u6587\u7ae0\u7684\u6700\u540e\uff0c\u6211\u4eec\u518d\u96c6\u4e2d\u8c08\u8c08\u76ee\u524d\u4eff\u771f\u5de5\u4f5c\u4e2d\u9047\u5230\u7684\u51e0\u4e2a\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>4.1 Reality Gap<\/strong><\/p>\n\n\n\n<p>Gap1\uff1a\u4eff\u771f\u5bf9\u7269\u7406\u73b0\u5b9e\u7684\u8868\u73b0\u662f\u4e0d\u5145\u5206\u7684\u3002\u4e3e\u4e2a\u5178\u578b\u4f8b\u5b50\uff0c\u5728\u9488\u5bf9\u611f\u77e5\u7cfb\u7edf\u8fdb\u884c\u6d4b\u8bd5\u65f6\uff0c\u662f\u5426\u9700\u8981\u4fdd\u8bc1\u6e32\u67d3\u56fe\u50cf\/\u70b9\u4e91\u548c\u73b0\u5b9e\u4e16\u754c\u7684\u9ad8\u5ea6\u4e00\u81f4\u6027\uff1f\u7531\u4eff\u771f\u5408\u6210\u7684\u56fe\u50cf\/\u70b9\u4e91\u7b49\u7528\u4e8e\u8bad\u7ec3\u5bf9\u5e94\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u662f\u5426\u80fd\u6709\u6548\u63d0\u9ad8\u6027\u80fd\uff1f<\/p>\n\n\n\n<p>\u4fdd\u6301\u9ad8\u5ea6\u4e00\u81f4\u6027\u9700\u8981\u975e\u5e38\u9ad8\u7684\u6210\u672c\u3002\u4e3a\u4e86\u89c4\u907f\u8f83\u9ad8\u6210\u672c\uff0c\u76ee\u524d\u4e5f\u6709\u4e00\u90e8\u5206\u76f8\u5173\u7814\u7a76\u5de5\u4f5c\u3002\u5178\u578b\u7684\u5982\u767e\u5ea6\u7684AADS\uff08\u865a\u5b9e\u7ed3\u5408\uff09\u3001\u8c37\u6b4c\u7684SurfelGAN\uff08\u4ee5GAN\u4e3a\u4ee3\u8868\u7684\u4e00\u7cfb\u5217\u5de5\u4f5c\uff09\u7b49\u3002<\/p>\n\n\n\n<p>Gap2\uff1a\u8003\u8651\u6240\u6709\u76f8\u5173\u7684\u7269\u7406\u73b0\u8c61\u5177\u6709\u6311\u6218\u6027\u3002\u4e3e\u4e00\u4e9b\u5178\u578b\u4f8b\u5b50\uff0c\u7b80\u5355\u8f66\u8f86\u6a21\u578b\u5982\u679c\u6ca1\u6709\u5305\u542b\u8f6e\u80ce\u6a21\u578b\uff0c\u5728\u8f83\u9ad8\u901f\u5ea6\u4e0b\u5982\u4f55\u8003\u8651\u8f6c\u5411\u4ee5\u53ca\u52a0\u51cf\u901f\u7b49\u884c\u4e3a\uff1f\u5982\u4f55\u5efa\u6a21\u968f\u673a\u8fc7\u7a0b(\u5982\u4fe1\u53f7\u566a\u58f0)\u5e76\u5c06\u8fd9\u4e9b\u6a21\u578b\u4f5c\u4e3a\u4e00\u4e2a\u6574\u4f53\u96c6\u6210\u5230\u4eff\u771f\u4e2d\uff1f\u5982\u4f55\u5c06V2X\u4eff\u771f\u4e0e\u7269\u7406\u5730\u5f62\u4eff\u771f\u96c6\u6210\u5728\u4e00\u8d77\uff1f<\/p>\n\n\n\n<p>\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u8981\u5f00\u6e90\u8282\u6d41\u3002\u4f8b\u5982\uff0c\u611f\u77e5\u6e32\u67d3\u505a\u4e0d\u597d\uff0c\u4ece\u5de5\u7a0b\u7684\u89d2\u5ea6\uff0c\u53ef\u4ee5\u8003\u8651\u628a\u4eff\u771f\u91cd\u5fc3\u653e\u5728\u51b3\u7b56\u89c4\u5212\u548c\u63a7\u5236\u4e0a\uff0c\u800c\u611f\u77e5\u6d4b\u8bd5\u7684\u91cd\u5fc3\u53ef\u6682\u65f6\u653e\u5728\u56de\u653e\u578b\u4eff\u771f\u4e0a\u3002\u6216\u8005\u4eff\u771f\u5de5\u7a0b\u5e08\u53ef\u5728\u5df2\u6709\u7684gap\u4e0b\uff0c\u901a\u8fc7\u6570\u636e\u5904\u7406\u5206\u6790\uff0c\u4ee5\u53ca\u4e00\u4e9b\u4ea4\u53c9\u9a8c\u8bc1\u624b\u6bb5\u6765\u8986\u76d6\u6389gap\u3002<\/p>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u82e5\u7cfb\u7edf\u5728\u4eff\u771f\u73af\u5883\u548c\u5b9e\u9645\u8fd0\u884c\u73af\u5883\u4e4b\u95f4\u7684\u8868\u73b0\u5dee\u5f02\u592a\u5927\uff0c\u5fc5\u987b\u4ed4\u7ec6\u5206\u6790\u9020\u6210\u5dee\u5f02\u7684\u5173\u952e\u77db\u76fe\u3002\u5982\u679c\u8be5\u77db\u76fe\u5728\u77ed\u671f\u5185\u56e0\u4e3a\u5ba2\u89c2\u539f\u56e0\u4e0d\u80fd\u89e3\u51b3\uff0c\u5219\u9700\u679c\u65ad\u8c03\u6574\u91cd\u5fc3\u3002\u4eff\u771f\u975e\u5e38\u6709\u7528\uff0c\u4f46\u4e0d\u662f\u6d4b\u8bd5\u8fc7\u7a0b\u7684\u4e07\u80fd\u836f\uff0c\u4e3a\u4e86\u4eff\u771f\u800c\u4eff\u771f\u662f\u6ca1\u4ec0\u4e48\u610f\u4e49\u7684\u3002<\/p>\n\n\n\n<p><strong>4.2 Complexity &amp; Lack &amp; Business<\/strong><\/p>\n\n\n\n<p>Complexity\u590d\u6742\u6027\u8868\u5f81\u5728\u4e09\u4e2a\u65b9\u9762\u3002\u5176\u4e00\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u672c\u8eab\u7684\u591a\u6837\u6027\uff1b\u5176\u4e8c\uff0c\u5355\u4e2a\u4eff\u771f\u8f6f\u4ef6\u7684\u529f\u80fd\u590d\u6742\u6027\uff1b\u5176\u4e09\uff0c\u9488\u5bf9\u7279\u5b9a\u7cfb\u7edf\u548c\u7279\u5b9a\u8f6f\u4ef6\u5f00\u53d1\u4eff\u771f\u63a5\u53e3\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n<p>\u5f53\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\u786e\u5b9e\u5f88\u591a\u3002VTD\u3001Prescan\u300151Simone\u3001PanoSim\u3001GaiA\u3001rfPro\u3001CARLA\u3001Airsim\u3001Lgsvl\u3001DeepDrive\u3001Carsim\u3001CarMaker\uff1b\u751a\u81f3Matlab\/Simulink\u3001GTA-5\u3001Gazebo\u90fd\u53ef\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u3002\u6bcf\u4e2a\u4eff\u771f\u8f6f\u4ef6\u90fd\u6709\u81ea\u5df1\u7684\u4f18\u7f3a\u70b9\uff0c\u5982\u679c\u9762\u5bf9\u5177\u4f53\u6d4b\u8bd5\u9700\u6c42\u4e0d\u65ad\u5207\u6362\u8981\u4f7f\u7528\u7684\u6a21\u62df\u5668\uff0c\u65e0\u7591\u4f1a\u589e\u52a0\u5f88\u591a\u5b66\u4e60\u6210\u672c\u3002\u6b64\u5916\uff0c\u9762\u5411\u540c\u4e00\u88ab\u6d4b\u7cfb\u7edf\uff0c\u9488\u5bf9\u4e0d\u540c\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\uff0c\u5f80\u5f80\u9700\u8981\u5f00\u53d1\u4e0d\u540c\u7684\u4eff\u771f\u63a5\u53e3\uff0c\u8fd9\u4e5f\u9700\u8981\u8f83\u9ad8\u7684\u65f6\u95f4\u6210\u672c\u3002\u5982\u6b64\u4e4b\u591a\u7684\u4eff\u771f\u5957\u4ef6\u4e5f\u4e0d\u5229\u4e8e\u5de5\u7a0b\u5e08\u65e5\u5e38\u7ef4\u62a4\uff0c\u8fdb\u800c\u5728\u5f00\u5c55\u5de5\u7a0b\u7ea7\u522b\u7684\u5927\u89c4\u6a21\u4eff\u771f\u6d4b\u8bd5\u4f1a\u6709\u8f83\u591a\u63a3\u8098\u3002<\/p>\n\n\n\n<p>Lack<\/p>\n\n\n\n<p>\u5982\u679c\u6709\u4e00\u6b3e\u8db3\u591f\u5b8c\u7f8e\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\u662f\u4e0d\u662f\u5c31\u4e00\u52b3\u6c38\u9038\u4e86\u5462\uff1f<\/p>\n\n\n\n<p>\u8bdd\u867d\u5982\u6b64\uff0c\u4f46\u5b9e\u9645\u60c5\u51b5\u6ca1\u8fd9\u4e48\u7b80\u5355\u3002\u4ece\u529f\u80fd\u6765\u8bf4\uff0c\u76ee\u524d\u5f88\u96be\u8bf4\u6709\u4e00\u6b3e\u516c\u8ba4\u7684\u8db3\u591f\u5b8c\u7f8e\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6\u3002\u5927\u90e8\u5206\u8f6f\u4ef6\u90fd\u8fd8\u4e0d\u80fd\u540c\u65f6\u652f\u6301\u4ee5\u4e0b\u5217\u4e3e\u7684\u5168\u90e8\u529f\u80fd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7531\u4e8e\u53ef\u80fd\u7834\u574f\u7269\u7406\u5f15\u64ce\u7684\u7a33\u5b9a\u6027\u65e0\u6cd5\u63d0\u4f9b\u9ad8\u4e8e\u5b9e\u65f6\u7684\u6a21\u62df\u901f\u5ea6\uff1b<\/li>\n\n\n\n<li>\u4e0d\u652f\u6301\u9ad8\u6548\u7684\u65e0GUI\u8fd0\u884c(headless execution)\u6a21\u5f0f\u8fdb\u800c\u5f71\u54cd\u81ea\u52a8\u5316\u6d4b\u8bd5\u7b49\uff1b<\/li>\n\n\n\n<li>\u5efa\u6a21\u57fa\u4e8e\u590d\u6742\u591a\u7ef4\u771f\u5b9e\u4ea4\u901a\u884c\u4e3a\u7684\u52a8\u6001\u573a\u666f\u65f6\u9700\u8981\u8f83\u9ad8\u6570\u636e\u6210\u672c\u4ee5\u53ca\u4e13\u4e1a\u77e5\u8bc6\uff1b<\/li>\n\n\n\n<li>\u6784\u5efa\u5927\u89c4\u6a21\u771f\u5b9e\u3001\u5f02\u6784\u9759\u6001\u573a\u666f\u65f6\u9700\u8981\u8f83\u9ad8\u65f6\u95f4\u6210\u672c\uff1b<\/li>\n\n\n\n<li>\u9002\u914d\u591a\u79cd\u573a\u666f\u8bed\u8a00\uff08\u6216\u8005\u8bf4\uff0c\u5c06\u573a\u666f\u7f16\u7801\u4e3a\u573a\u666f\u8bed\u8a00\uff09\u65f6\uff0c\u9700\u8981\u8f83\u9ad8\u7684\u65f6\u95f4\u6210\u672c\uff1b<\/li>\n\n\n\n<li>\u4e0d\u652f\u6301\u591aagent\u8054\u5408\u4eff\u771f\u4ee5\u53ca\u8de8\u591a\u53f0\u673a\u5668\u4eff\u771f\u4f1a\u8bdd\u6709\u6548\u5206\u53d1\uff1b<\/li>\n\n\n\n<li>\u4e0d\u652f\u6301\u5927\u89c4\u6a21\u573a\u666f\uff08\u6574\u4e2a\u5e02\u533a\u7ea7\uff09\uff08\u6b64\u9700\u6c42\u5408\u7406\u6027\u6709\u5f85\u8ba8\u8bba\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>Business\u4e0d\u53ef\u5426\u8ba4\uff0c\u5bf9\u6709\u4e9b\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u9886\u57df\u7684\u6df1\u8015\u73a9\u5bb6\u800c\u8a00\uff0c\u4ee5\u4e0a\u529f\u80fd\u90fd\u5df2\u76f4\u63a5\u95f4\u63a5\u5f97\u5f00\u53d1\u6210\u719f\u3002\u4f46\u5728\u5b9e\u9645\u8fdb\u884c\u7814\u53d1\u65f6\uff0c\u8fd8\u5fc5\u987b\u8003\u8651\u8f6f\u4ef6\u4f7f\u7528\u7684\u7ecf\u6d4e\u6210\u672c\u3001\u6240\u7528\u6570\u636e\u5b89\u5168\u6027\u3001\u4eff\u771f\u4e0e\u57fa\u7840\u67b6\u6784\u7684\u5951\u5408\u5ea6\uff08\u4e0e\u6570\u636e\u95ed\u73af\u7684\u5951\u5408\u5ea6\uff09\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u90e8\u5206\u673a\u6784\u8fd8\u662f\u4f1a\u53bb\u72ec\u7acb\u5f00\u53d1\u5b8c\u5584\u4e00\u4e2a\u4eff\u771f\u7cfb\u7edf\u3002\u6b64\u65f6\uff0c\u4ee5\u4e0a\u63d0\u5230\u7684\u76f8\u5e94\u529f\u80fd\u5f00\u53d1\u4e5f\u6b63\u662f\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5de5\u7a0b\u5e08\u53ef\u80fd\u7684\u90e8\u5206\u65e5\u5e38\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p><strong>4.3 Reproducibility<\/strong><\/p>\n\n\n\n<p>\u53ef\u590d\u73b0\u6027\uff0c\u67d0\u79cd\u89d2\u5ea6\u4e0a\u4e5f\u53eb\u4eff\u771f\u7ed3\u679c\u7684\u786e\u5b9a\u6027\uff0c\u5305\u62ec\u4e24\u4e2a\u65b9\u9762\uff0c\u7531\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u53ef\u590d\u73b0\u6027\u548c\u4eff\u771f\u672c\u8eab\u7684\u53ef\u590d\u73b0\u6027\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u524d\u8005\u662f\u53ef\u590d\u73b0\u6027\u7684\u91cd\u70b9\u548c\u96be\u70b9\uff0c\u9700\u8981\u901a\u8fc7\u7cbe\u5fc3\u5904\u7406Reality gap \u89e3\u51b3\uff0c\u8fd9\u91cc\u53ea\u662f\u8bf4\u8bf4\u76f8\u5bf9\u5bb9\u6613\u88ab\u5ffd\u7565\u7684\u540e\u8005\u3002\u5728\u5b9e\u9645\u6d4b\u8bd5\u8fc7\u7a0b\u4e2d\uff0c\u53ea\u6709\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u4fdd\u969c\u4e86\u7cfb\u7edf\u7684\u53ef\u590d\u73b0\u6027\uff0c\u5c31\u53ef\u4ee5\u77e5\u9053\u5bf9\u4ee3\u7801\u6240\u505a\u7684\u66f4\u6539\u662f\u5426\u4fee\u590d\u4e86\u95ee\u9898\uff0c\u8fdb\u800c\u6709\u5229\u4e8e\u6d4b\u8bd5\u81ea\u52a8\u5316\u548cCI\uff0c\u89c4\u907f\u5047\u9634\u6027\u548c\u5047\u9633\u6027\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>MIL\u3001SIL\u3001HIL\u3001VIL\uff0c\u65e0\u8bba\u662f\u54ea\u79cd\u4eff\u771f\u7cfb\u7edf\uff0c\u4eff\u771f\u7ed3\u679c\u90fd\u53ef\u80fd\u5b58\u5728\u4e00\u5b9a\u566a\u58f0\u3002\u8868\u73b0\u5728\u91c7\u7528\u540c\u4e00\u7ec4\u573a\u666f\uff0c\u91cd\u590d\u8fd0\u884c\u591a\u6b21\uff0c\u8bc4\u4ef7\u6307\u6807\u503c\u4f1a\u51fa\u73b0\u4e00\u5b9a\u7684\u6ce2\u52a8\u3002\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4f5c\u4e3aCPS\u7cfb\u7edf\u7684\u4e00\u79cd\uff0c\u76f8\u5e94\u7684\u4eff\u771f\u7ed3\u679c\u51fa\u73b0\u6ce2\u52a8\u662f\u6b63\u5e38\u7684\u3002\u7531\u4e8e\u6ce2\u52a8\u51fa\u73b0\u7684\u539f\u56e0\u53d7\u4f17\u591a\u8f83\u96be\u8ffd\u6eaf\u7684\u56e0\u7d20\u5f71\u54cd\uff08\u7ebf\u7a0b\u4e0d\u7a33\u5b9a\u6027\u3001\u4fe1\u606f\u4f20\u8f93\u5e27\u7387\u3001\u6307\u6807\u672c\u8eab\u7684\u9ad8\u5ea6\u975e\u7ebf\u6027\uff09\uff0c\u56e0\u6b64\u9700\u8981\u7cbe\u786e\u5efa\u6a21\u566a\u58f0\u5e76\u5b9a\u91cf\u5206\u6790\u7684\u53ef\u80fd\u6027\u8f83\u5c0f\u3002\u4e00\u79cd\u53ef\u884c\u65b9\u6cd5\u662f\u901a\u8fc7\u591a\u6b21\u8fd0\u884c\u5b9e\u9a8c\uff0c\u91c7\u7528\u5e73\u5747\u503c\u7b49\u7edf\u8ba1\u5904\u7406\u624b\u6bb5\u5c1d\u8bd5\u5b9a\u6027\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u53e6\u5916\u4e00\u79cd\u53ef\u884c\u7684\u65b9\u6cd5\u5219\u662f\u901a\u8fc7\u8bbe\u8ba1\u6a21\u7cca\u5316\u3001\u7efc\u5408\u5316\u7684\u8bc4\u4ef7\u6307\u6807\u5b9e\u73b0\u3002<\/p>\n\n\n\n<p><strong>4.4 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