{"id":12813,"date":"2024-07-12T13:57:59","date_gmt":"2024-07-12T05:57:59","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12813"},"modified":"2024-07-12T13:57:59","modified_gmt":"2024-07-12T05:57:59","slug":"2024-07-12-%e6%99%ba%e8%83%bd%e9%a9%be%e9%a9%b6%e6%b1%bd%e8%bd%a6%e4%bb%bf%e7%9c%9f%e6%b5%8b%e8%af%95%e6%96%b9%e6%b3%952","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/12\/12813\/","title":{"rendered":"2024-07-12 \u667a\u80fd\u9a7e\u9a76\u6c7d\u8f66\u4eff\u771f\u6d4b\u8bd5\u65b9\u6cd5(2)"},"content":{"rendered":"\n

\u81ea\u52a8\u9a7e\u9a76ADAS\u7cfb\u7edf\u5f00\u53d1\u67b6\u6784<\/strong><\/p>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f00\u53d1\u7684\u201cV\u201d\u6d41\u7a0b<\/strong><\/em><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u4eff\u771f\u6d4b\u8bd5\u65b9\u6cd5\uff1a<\/strong><\/em><\/strong><\/p>\n\n\n\n

### MIL<\/strong><\/p>\n\n\n\n

Model-in-the-loop<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728\u4eff\u771f\u73af\u5883\u4e2d\u7528\u6570\u5b66\u6216\u4eff\u771f\u6a21\u578b\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u63a7\u5236\u7b97\u6cd5\uff0c\u662f\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u7684\u6700\u521d\u7684\u9636\u6bb5\uff0c\u9a8c\u8bc1\u7b97\u6cd5\u7684\u57fa\u672c\u529f\u80fd\u548c\u903b\u8f91\uff0c\u6574\u4e2a\u6d4b\u8bd5\u8fc7\u7a0b\u90fd\u662f\u5728\u6a21\u578b\u73af\u5883\u4e2d\u8fdb\u884c\uff0c\u6ca1\u6709\u6d89\u53ca\u5230\u5b9e\u9645\u7684\u8f6f\u4ef6\u4ee3\u7801\u6216\u786c\u4ef6\u8bbe\u5907\u3002\u7b97\u6cd5\u4ee5\u6a21\u578b\u7684\u5f62\u5f0f\u5b58\u5728\uff0c\u5e76\u901a\u8fc7\u4eff\u771f\u73af\u5883\u8fdb\u884c\u5faa\u73af\u6d4b\u8bd5\u3002<\/p>\n\n\n\n

\u9a8c\u8bc1\u6d4b\u8bd5\u7cfb\u7edf\u529f\u80fd\u662f\u5426\u80fd\u5b9e\u73b0<\/p>\n\n\n\n

### SIL<\/strong><\/p>\n\n\n\n

Software-in-the-loop<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

 \u5728\u4eff\u771f\u73af\u5883\u4e2d\u8fd0\u884c\u5b9e\u9645\u7684\u63a7\u5236\u8f6f\u4ef6\u4ee3\u7801\uff0c\u9a8c\u8bc1\u8f6f\u4ef6\u7684\u529f\u80fd\u548c\u6027\u80fd\u3002\u5bf9\u8f6f\u4ef6\u8fdb\u884c\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u7684\u4e2d\u95f4\u9636\u6bb5\uff0c\u5b9e\u9645\u7684\u8f6f\u4ef6\u4ee3\u7801\u88ab\u653e\u5165\u4eff\u771f\u73af\u5883\u4e2d\u8fdb\u884c\u5faa\u73af\u6d4b\u8bd5\uff0c\u4ee5\u4fbf\u5728\u4e0d\u4f9d\u8d56\u5b9e\u9645\u786c\u4ef6\u7684\u60c5\u51b5\u4e0b\u9a8c\u8bc1\u8f6f\u4ef6\u7684\u6b63\u786e\u6027\u3002<\/p>\n\n\n\n

\u9a8c\u8bc1\u6d4b\u8bd5\u529f\u80fd\u662f\u5426\u4e00\u81f4<\/p>\n\n\n\n

### PIL<\/strong><\/p>\n\n\n\n

Processor-in-the-loop<\/strong><\/strong><\/p>\n\n\n\n

    \u5c06\u81ea\u52a8\u751f\u6210\u7684\u4ee3\u7801\u7f16\u8bd1\u4e3a\u76ee\u6807\u5904\u7406\u5668\u9700\u8981\u7684\u5f62\u5f0f\uff0c\u4e0b\u8f7d\u5230\u76ee\u6807\u5904\u7406\u8fd0\u884c\uff0c\u4e3a\u4e86\u9632\u6b62\u7f16\u8bd1\u8fc7\u7a0b\u5f15\u5165\u65b0\u7684\u9519\u8bef\uff0cPIL\u6d4b\u8bd5\u4e5f\u662f\u7b49\u6548\u6027\u6d4b\u8bd5\uff0c\u5176\u65b9\u5f0f\u4e0eSIL\u7c7b\u4f3c\uff0c\u4e0d\u540c\u4e4b\u5904\u662f\u7f16\u8bd1\u597d\u7684\u7b97\u6cd5\u8fd0\u884c\u5728\u76ee\u6807\u5904\u7406\u5668\u4e0a\uff0cSIL\u6d4b\u8bd5\u662f\u5728\u7b97\u6cd5\u5f00\u53d1\u73af\u5883\u8fdb\u884c\u7684\uff08\u5982windows\uff09\u3002<\/p>\n\n\n\n

### HIL<\/strong><\/p>\n\n\n\n

Hardware-in-the-loop<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728\u4eff\u771f\u73af\u5883\u4e2d\u4f7f\u7528\u5b9e\u9645\u7684\u63a7\u5236\u786c\u4ef6\u6765\u6d4b\u8bd5\u7cfb\u7edf\u3002\u9a8c\u8bc1\u786c\u4ef6\u548c\u8f6f\u4ef6\u7684\u96c6\u6210\u548c\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\u80fd\uff0c\u5b9e\u9645\u7684\u786c\u4ef6\u88ab\u653e\u5165\u4eff\u771f\u5faa\u73af\u4e2d\u8fdb\u884c\u6d4b\u8bd5\uff0c\u786e\u4fdd\u7cfb\u7edf\u5728\u73b0\u5b9e\u6761\u4ef6\u4e0b\u7684\u5de5\u4f5c\u6027\u80fd\u548c\u54cd\u5e94\u901f\u5ea6<\/p>\n\n\n\n

\u771f\u5b9e\u786c\u4ef6\u8bbe\u5907\u4e0b\u5168\u9762\u9a8c\u8bc1\u7cfb\u7edf\u548c\u529f\u80fd<\/p>\n\n\n\n

### VIL<\/strong><\/p>\n\n\n\n

Vehicle-in-the-loop<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728\u4eff\u771f\u73af\u5883\u4e2d\u6d4b\u8bd5\u6574\u4e2a\u8f66\u8f86\u7cfb\u7edf\uff0c\u5305\u62ec\u6240\u6709\u786c\u4ef6\u548c\u8f6f\u4ef6\u7ec4\u4ef6\uff0c\u7528\u4e8e\u6700\u7ec8\u7684\u7cfb\u7edf\u9a8c\u8bc1\uff0c\u786e\u4fdd\u6574\u4e2a\u7cfb\u7edf\u5728\u5b9e\u9645\u9a7e\u9a76\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u548c\u5b89\u5168\u6027\uff0c\u5b9e\u9645\u8f66\u8f86\u88ab\u653e\u5165\u4eff\u771f\u5faa\u73af\u4e2d\u8fdb\u884c\u6d4b\u8bd5\uff0c\u7efc\u5408\u9a8c\u8bc1\u6574\u4e2a\u7cfb\u7edf\u5728\u771f\u5b9e\u6761\u4ef6\u4e0b\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n

### DIL<\/strong><\/p>\n\n\n\n

Driver-in-the-loop<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728\u4eff\u771f\u73af\u5883\u4e2d\u5f15\u5165\u5b9e\u9645\u9a7e\u9a76\u5458\uff0c\u6d4b\u8bd5\u7cfb\u7edf\u5728\u5b9e\u9645\u9a7e\u9a76\u6761\u4ef6\u4e0b\u7684\u8868\u73b0\u3002\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u6216\u9a7e\u9a76\u5458\u8f85\u52a9\u7cfb\u7edf\u7684\u7528\u6237\u4f53\u9a8c\u548c\u4eba\u673a\u4ea4\u4e92\uff0c\u5b9e\u9645\u9a7e\u9a76\u5458\u4f5c\u4e3a\u6d4b\u8bd5\u7684\u4e00\u90e8\u5206\uff0c\u88ab\u5f15\u5165\u4eff\u771f\u5faa\u73af\u4e2d\u8fdb\u884c\u6d4b\u8bd5\uff0c\u89c2\u5bdf\u9a7e\u9a76\u5458\u548c\u7cfb\u7edf\u7684\u4ea4\u4e92\u884c\u4e3a\u3002<\/p>\n\n\n\n

### \u573a\u5730\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u5728\u53d7\u63a7\u73af\u5883\u4e2d\u5bf9\u667a\u80fd\u9a7e\u9a76\u8f66\u8fdb\u884c\u6d4b\u8bd5\uff0c\u8bc4\u4f30\u5176\u6027\u80fd\u3001\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002\u573a\u5730\u6d4b\u8bd5\u5728\u4e13\u95e8\u8bbe\u8ba1\u7684\u6d4b\u8bd5\u573a\u5730\u6216\u95ed\u5408\u9053\u8def\u4e0a\u8fdb\u884c\uff0c\u6a21\u62df\u5b9e\u9645\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u5404\u79cd\u60c5\u51b5\uff0c\u662f\u5728\u4e00\u4e2a\u53ef\u63a7\u548c\u5b89\u5168\u7684\u73af\u5883\u4e2d\u8fdb\u884c\u6d4b\u8bd5\u3002\u57fa\u7840\u6d4b\u8bd5\uff1a<\/strong><\/em>    \u5305\u62ec\u8f66\u8f86\u7684\u542f\u52a8\u3001\u505c\u8f66\u3001\u52a0\u901f\u3001\u51cf\u901f\u3001\u8f6c\u5411\u7b49\u57fa\u672c\u529f\u80fd\u3002\u4f20\u611f\u5668\u6d4b\u8bd5\uff1a<\/strong><\/em>
    \u6d4b\u8bd5\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0a\u7684\u5404\u79cd\u4f20\u611f\u5668\uff08\u96f7\u8fbe\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u7b49\uff09\u7684\u6027\u80fd\u548c\u51c6\u786e\u6027\u3002\u73af\u5883\u611f\u77e5\uff1a<\/strong><\/em>
    \u6d4b\u8bd5\u8f66\u8f86\u5728\u4e0d\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u611f\u77e5\u80fd\u529b\uff08\u96e8\u3001\u96ea\u3001\u96fe\uff09\u548c\u5149\u7167\u6761\u4ef6\uff08\u767d\u5929\u3001\u591c\u665a\uff09\u4e0b\u7684\u8868\u73b0\u3002\u573a\u666f\u6a21\u62df\uff1a<\/strong><\/em>    \u5728\u6d4b\u8bd5\u573a\u5730\u4e2d\u6a21\u62df\u5404\u79cd\u9a7e\u9a76\u573a\u666f\uff0c\u4f8b\u5982\u7ea2\u7eff\u706f\u8def\u53e3\u3001\u884c\u4eba\u6a2a\u7a7f\u9a6c\u8def\u3001\u5176\u4ed6\u8f66\u8f86\u5e76\u7ebf\u6216\u8d85\u8f66\u7b49\uff0c\u4ee5\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u8fd9\u4e9b\u573a\u666f\u4e0b\u7684\u5e94\u5bf9\u80fd\u529b\u3002<\/p>\n\n\n\n

### \u9053\u8def\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728\u6cd5\u89c4\u5141\u8bb8\u4e0b\u8fdb\u884c\u771f\u5b9e\u9053\u8def\u7684\u6761\u4ef6\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\uff0c\u5b9e\u6218\u68c0\u9a8c\u8f66\u8f86\u7684\u5404\u79cd\u6027\u80fd\u5728\u771f\u5b9e\u9053\u8def\u4e0b\u7684\u8868\u73b0\u3002Reference\uff1a<\/p>\n\n\n\n

[1]https:\/\/www.auto-testing.net\/news\/show-107454.html<\/p>\n\n\n\n

[2]https:\/\/www.gov.cn\/xinwen\/2021-10\/20\/content_5643859.htm#1<\/p>\n\n\n\n

[3]\u516c\u8def\u9662 \u957f\u5b89\u5927\u5b66 \u91cd\u5e86\u8f66\u68c0\u9662<\/p>\n\n\n\n

\u667a\u80fd\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u9700\u6c42\u5206\u6790\uff1a<\/strong><\/em><\/p>\n\n\n\n

##\u00a0\u7b97\u6cd5\u6a21\u578b\u4eff\u771f\u9700\u6c42<\/strong>$(1)<\/strong>\u8f66\u8f86\u4eff\u771f\u8f6f\u4ef6<\/strong>$(2)<\/strong>\u73af\u5883\u4eff\u771f\u8f6f\u4ef6<\/strong>
$(3)<\/strong>\u81ea\u52a8\u5316\u6d4b\u8bd5\u8f6f\u4ef6<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

simulink\u00a0\u5de5\u4f5c\u7ad9\u9a8c\u8bc1\u7b97\u6cd5\u6a21\u578b<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u4e0b\u5217\u4ee3\u7801\u5c55\u793a\u4e86\u7528ROS API\u521b\u5efa\u4e00\u4e2a\u8282\u70b9\uff0c\u5e76\u5728\u8282\u70b9\u4e2d\u4f7f\u7528\u591a\u7ebf\u7a0b\u6765\u5904\u7406\u4e0d\u540c\u7684\u4efb\u52a1\u3002\u521b\u5efa\u4e24\u4e2a\u7ebf\u7a0b\u6765\u5206\u522b\u5904\u7406\u8f66\u8f86\u63a7\u5236\u6307\u4ee4\u548c\u4f20\u611f\u5668\u6570\u636e\uff0c\u901a\u8fc7\u53d1\u5e03\u548c\u8ba2\u9605ROS\u8bdd\u9898\u6765\u8fdb\u884c\u6570\u636e\u4ea4\u6362\u3002<\/p>\n\n\n\n

    \n
  • <\/li>\n<\/ul>\n\n\n\n
    #include \"vtd_parse.h\"<\/code>
    #include \"thread\"<\/code>
    using namespace VTD;
    int main(int argc, char* argv[])<\/code>
    {\u00a0\u00a0\u00a0\u00a0<\/code>
    \/\/\u00a0\u521d\u59cb\u5316ROS\u7684\u8282\u70b9    <\/code>
    ros::init(argc, argv, \"VTD_publisher\");\u00a0\u00a0\u00a0\u00a0<\/code>
    ros::NodeHandle\u00a0n;\/\/\u00a0\u8282\u70b9\u53e5\u67c4n\u00a0\u00a0\u00a0\u00a0<\/code>
    \/\/\u00a0\u521b\u5efa\u542f\u52a8\u7ebf\u7a0b\uff0c\u4e24\u4e2a\u5171\u4eab\u6307\u9488\u6307\u5411\u2018VTD_Parse\u7684\u5b9e\u4f8b\u2019\u00a0\u00a0\u00a0\u00a0<\/code>
    std::shared_ptr<VTD_Parse>\u00a0VTD_SendDriverCtrl_Handler\u00a0=\u00a0std::make_shared<VTD_Parse>(48190);    <\/code>
    std::thread VTD_SendDriverCtrl_Thread(&VTD_Parse::vtd_parse, VTD_Parse::vtd_parse, VTD_SendDriverCtrl_Handler, argc, argv, &n);<\/code>
    std::shared_ptr<VTD_Parse> VTD_Sensor_Handler = std::make_shared<VTD_Parse>(48185);   std::thread VTD_Sensor_Thread(&VTD_Parse::vtd_parse, VTD_Parse::vtd_parse, VTD_Sensor_Handler, argc, argv, &n);<\/code>
    ros::Rate loop_rate(1000);   <\/code>
     while (ros::ok())   <\/code>
     {\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/code>
    ros::spinOnce();\/\/\u00a0\u5904\u7406ROS\u7684\u56de\u8c03\u51fd\u6570        <\/code>
    loop_rate.sleep();    <\/code>
    }    <\/code>
    return 0;<\/code>
    }<\/code><\/pre>\n\n\n\n
    VTD_Parse::vtd_parse\u51fd\u6570<\/strong><\/p>\n\n\n\n
    int VTD_Parse::vtd_parse(int argc, char* argv[], ros::NodeHandle *n)<\/code>
    {\u00a0\u00a0\u00a0<\/code>
    \u00a0\/\/\u00a0\u521b\u5efa\u53d1\u5e03\u8005\uff0c\u53d1\u5e03\u5230\u2018\/VTD_line_info\u2019\u548c'\/VTD_obj_info,\u961f\u5217\u5927\u5c0f\u4e3a10\u548c12'    <\/code>
    VTD_line_info_pub = n->advertise<vtd::VTD_line_info>(\"\/VTD_line_info\", 10);    VTD_obj_info_pub = n->advertise<vtd::VTD_obj_info>(\"\/VTD_obj_info\", 12);\u00a0\u00a0\u00a0\u00a0<\/code>
    \/\/\u00a0\u521b\u5efa\u8ba2\u9605\u8005\u8ba2\u9605\u2018\/VTD_driver_ctrl\u2019\u961f\u521710    <\/code>
    VTD_driver_ctrl_sub = n->subscribe(\"\/VTD_driver_ctrl\", 10, &VTD_Parse::receiveDriverCtrl, this);
    }<\/code><\/pre>\n\n\n\n
    ##<\/strong> \u5355\u4f53\u63a7\u5236\u5668<\/strong>\u4eff\u771f\u9700\u6c42<\/strong><\/p>\n\n\n\n
    ### \u63a7\u5236\u5668\u4eff\u771f\u9700\u6c42<\/strong><\/p>\n\n\n\n
    $\u2014\u63a7\u5236\u5668\u4f9b\u7535$<\/strong> $~~$\u88ab\u63a7\u8f66\u8f86<\/p>\n\n\n\n
    $\u2014\u5b9e\u65f6\u673a$<\/strong> $~~$\u8f66\u8f86\u6a21\u578b\u8ba1\u7b97\uff0c\u5b9e\u65f6\u901a\u4fe1<\/p>\n\n\n\n
    $\u2014\u8f66\u8f86\u4eff\u771f\u8f6f\u4ef6$<\/strong> $~~$\u88ab\u63a7\u8f66\u8f86<\/p>\n\n\n\n
    $\u2014\u73af\u5883\u4eff\u771f\u8f6f\u4ef6$<\/strong> $~~$\u4eff\u771f\u573a\u666f<\/p>\n\n\n\n
    $\u2014\u81ea\u52a8\u5316\u6d4b\u8bd5\u8f6f\u4ef6$<\/strong> $~~$\u81ea\u52a8\u5316\u6d4b\u8bd5<\/p>\n\n\n\n
    $\u2014\u4f20\u611f\u5668\u4eff\u771f\u8bbe\u5907$<\/strong> $~~$\u89c6\u9891\u6697\u7bb1\uff0c\u96f7\u8fbe\u6a21\u62df\u5668<\/p>\n\n\n\n
    #### \u81ea\u52a8\u9a7e\u9a76\u65b9\u6848<\/strong><\/em><\/p>\n\n\n\n
    \u884c\u8f66\u65b9\u6848\u6cca\u8f66\u65b9\u6848\u884c\u6cca\u4e00\u4f53<\/p>\n\n\n\n
    ### \u6574\u8f66\u7ea7\u96c6\u6210\u4eff\u771f<\/strong>
    $\u2014\u5b9e\u65f6\u673a$<\/strong> $~~$\u8f66\u8f86\u6a21\u578b\u8ba1\u7b97\uff0c\u5b9e\u65f6\u901a\u4fe1<\/p>\n\n\n\n
    $\u2014\u6574\u8f66\u53f0\u67b6$ <\/strong>$~~$\u8f6c\u9f13\u5b9e\u9a8c\u53f0<\/p>\n\n\n\n
    $\u2014\u8f66\u8f86\u4eff\u771f\u8f6f\u4ef6$<\/strong> $~~$\u88ab\u63a7\u8f66\u8f86<\/p>\n\n\n\n
    $\u2014\u73af\u5883\u4eff\u771f\u8f6f\u4ef6$ <\/strong>$~~$\u4eff\u771f\u573a\u666f<\/p>\n\n\n\n
    $\u2014\u81ea\u52a8\u5316\u6d4b\u8bd5\u8f6f\u4ef6$<\/strong> $~~$\u81ea\u52a8\u5316\u6d4b\u8bd5<\/p>\n\n\n\n
    $\u2014\u4f20\u611f\u5668\u4eff\u771f\u8bbe\u5907$ <\/strong>$~~$\u89c6\u9891\u6697\u7bb1\uff0c\u96f7\u8fbe\u6a21\u62df\u5668<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u9488\u5bf9\u6574\u8f66\u7684\u529f\u80fd\u903b\u8f91\uff0c\u6545\u969c\u6d4b\u8bd5\uff1b<\/p>\n\n\n\n
    \u4ece\u611f\u77e5\u63a7\u5236\u5230\u6267\u884c\u7684\u6574\u4e2a\u94fe\u8def\u73af\u8282\u6709\u6ca1\u6709\u95ee\u9898\u3002<\/p>\n\n\n\n
    ## \u667a\u80fd\u9a7e\u9a76\u4eff\u771f\u8f6f\u4ef6<\/strong><\/p>\n\n\n\n
    ## \u8f66\u8f86\u4eff\u771f<\/strong><\/em><\/strong><\/p>\n\n\n\n
    Carsim<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5382\u5546: Mechanical Simulation\uff08\u7f8e\u56fd\uff09<\/p>\n\n\n\n
    Carsim\u63d0\u4f9b\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\uff0c\u652f\u6301\u4e0d\u540c\u8f66\u8f86\u914d\u7f6e\u548c\u9a7e\u9a76\u6761\u4ef6\u3002<\/p>\n\n\n\n
    \u652f\u6301\u96c6\u6210\u591a\u79cd\u4f20\u611f\u5668\u6a21\u578b\uff0c\u7528\u4e8e\u6a21\u62df\u4e0d\u540c\u9a7e\u9a76\u73af\u5883\u4e0b\u7684\u8f66\u8f86\u884c\u4e3a\u3002<\/p>\n\n\n\n
    Carsim\u672c\u8eab\u4e0d\u5305\u542b\u81ea\u52a8\u5316\u6d4b\u8bd5\u529f\u80fd\uff0c\u9700\u8981\u4e0e\u5176\u4ed6\u6d4b\u8bd5\u5e73\u53f0\u96c6\u6210\u3002<\/p>\n\n\n\n
    Carmaker<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5382\u5546: IPG\uff08\u5fb7\u56fd\uff09<\/p>\n\n\n\n
    Carmaker\u63d0\u4f9b\u9ad8\u5ea6\u8be6\u7ec6\u7684\u8f66\u8f86\u6a21\u578b\uff0c\u652f\u6301\u591a\u79cd\u8f66\u8f86\u914d\u7f6e\u3002<\/p>\n\n\n\n
    \u652f\u6301\u534a\u7269\u7406\u7684\u4f20\u611f\u5668\u6a21\u578b\uff0c\u63d0\u4f9b\u66f4\u771f\u5b9e\u7684\u4f20\u611f\u5668\u6570\u636e\u4eff\u771f\u3002<\/p>\n\n\n\n
    \u5185\u7f6e\u81ea\u52a8\u5316\u6d4b\u8bd5\u529f\u80fd\uff0c\u652f\u6301\u590d\u6742\u9a7e\u9a76\u573a\u666f\u548c\u6d4b\u8bd5\u7528\u4f8b\u7684\u81ea\u52a8\u5316\u6267\u884c\u3002<\/p>\n\n\n\n
    $\\textbf{\\textit{Dyna4}}$<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \u5382\u5546: Vector\uff08\u5fb7\u56fd\uff09<\/p>\n\n\n\n
    Dyna4\u652f\u6301\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\u914d\u7f6e\u3002<\/p>\n\n\n\n
    \u5305\u542b\u591a\u79cd\u4f20\u611f\u5668\u6a21\u578b\uff0c\u7528\u4e8e\u6a21\u62df\u548c\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u3002<\/p>\n\n\n\n
    \u5185\u7f6e\u81ea\u52a8\u5316\u6d4b\u8bd5\u529f\u80fd\uff0c\u9002\u7528\u4e8e\u5927\u89c4\u6a21\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u3002<\/p>\n\n\n\n
    $\\textbf{\\textit{PanoSim}}$<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \u5382\u5546: PanoSim\uff08\u4e2d\u56fd\uff09<\/p>\n\n\n\n
    \u63d0\u4f9b\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\u914d\u7f6e\u3002<\/p>\n\n\n\n
    \u4e3b\u8981\u7528\u4e8e\u52a8\u529b\u5b66\u5efa\u6a21\uff0c\u4e0d\u5305\u542b\u4f20\u611f\u5668\u4eff\u771f\u3002<\/p>\n\n\n\n
    \u4e0d\u5e26\u81ea\u52a8\u5316\u6d4b\u8bd5\u6a21\u5757\uff0c\u9700\u8981\u4e0e\u5176\u4ed6\u6d4b\u8bd5\u5e73\u53f0\u96c6\u6210\u3002<\/p>\n\n\n\n
    \u603b\u7ed3<\/strong><\/em><\/strong><\/p>\n\n\n\n
    ## \u573a\u666f\u4eff\u771f<\/strong><\/em><\/p>\n\n\n\n
    PreScan<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5382\u5546: Siemens\uff08\u5fb7\u56fd\uff09\u57fa\u4e8esimulink<\/p>\n\n\n\n
    $\\textbf{\u65e0\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u4e0d\u5305\u542b\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u5efa\u6a21\uff0c\u4e3b\u8981\u4fa7\u91cd\u4e8e\u73af\u5883\u548c\u4f20\u611f\u5668\u7684\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u7269\u7406\u4f20\u611f\u5668\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u63d0\u4f9b\u8be6\u7ec6\u7684\u7269\u7406\u4f20\u611f\u5668\u6a21\u578b\uff0c\u7528\u4e8e\u6a21\u62df\u5404\u79cd\u4f20\u611f\u5668\u7684\u884c\u4e3a\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\uff1a}$<\/strong><\/p>\n\n\n\n
    \u53ef\u4ee5\u4e0e\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\u96c6\u6210\uff0c\u6a21\u62df\u590d\u6742\u7684\u4ea4\u901a\u73af\u5883\u3002<\/p>\n\n\n\n
    $\\textbf{\u89c6\u666f\u6e32\u67d3\u8f83\u5dee\uff1a}$<\/strong><\/p>\n\n\n\n
    \u56fe\u5f62\u6e32\u67d3\u6548\u679c\u4e00\u822c\uff0c\u4e3b\u8981\u7528\u4e8e\u529f\u80fd\u9a8c\u8bc1\u548c\u7b97\u6cd5\u5f00\u53d1\u3002<\/p>\n\n\n\n
    $\\textbf{\u4e0d\u652f\u6301\u5b9e\u65f6\uff1a}<\/strong>\u4e0d\u9002\u5408\u5b9e\u65f6\u4eff\u771f\u3002$\\textbf{\u652f\u6301OpenDRIVE\uff1a}$<\/strong><\/p>\n\n\n\n
    \u652f\u6301OpenDRIVE\u683c\u5f0f\u7684\u9053\u8def\u7f51\u7edc\u63cf\u8ff0\u3002<\/p>\n\n\n\n
    VTD<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5382\u5546: MSC\uff08\u5fb7\u56fd\uff09<\/p>\n\n\n\n
    $\\textbf{\u65e0\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u4e0d\u5305\u542b\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u5efa\u6a21\uff0c\u4fa7\u91cd\u4e8e\u73af\u5883\u548c\u4f20\u611f\u5668\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u53c2\u6570\u5316\u53ca\u7269\u7406\u4f20\u611f\u5668\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u63d0\u4f9b\u8be6\u7ec6\u7684\u4f20\u611f\u5668\u6a21\u578b\uff0c\u652f\u6301\u53c2\u6570\u5316\u548c\u7269\u7406\u4f20\u611f\u5668\u7684\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\uff1a}$<\/strong><\/p>\n\n\n\n
    \u53ef\u4ee5\u4e0e\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\u96c6\u6210\uff0c\u6a21\u62df\u590d\u6742\u7684\u4ea4\u901a\u73af\u5883\u3002<\/p>\n\n\n\n
    $\\textbf{\u89c6\u666f\u6e32\u67d3\u4e00\u822c\uff1a}$<\/strong><\/p>\n\n\n\n
    \u56fe\u5f62\u6e32\u67d3\u6548\u679c\u4e00\u822c\uff0c\u4e3b\u8981\u7528\u4e8e\u529f\u80fd\u9a8c\u8bc1\u548c\u7b97\u6cd5\u5f00\u53d1\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301\u5b9e\u65f6\uff1a}$<\/strong>\u53ef\u4ee5\u8fdb\u884c\u5b9e\u65f6\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301OpenDRIVE\u548cOpenScenario\uff1a}$<\/strong><\/p>\n\n\n\n
    \u652f\u6301OpenDRIVE\u683c\u5f0f\u7684\u9053\u8def\u7f51\u7edc\u63cf\u8ff0\u548cOpenScenario\u573a\u666f\u63cf\u8ff0\u3002<\/p>\n\n\n\n
    Carla<\/strong><\/em><\/strong>\u5382\u5546: Intel\uff08\u7f8e\u56fd\uff09<\/p>\n\n\n\n
    $\\textbf{\u7b80\u5355\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u63d0\u4f9b\u57fa\u672c\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u5efa\u6a21\uff0c\u652f\u6301\u8f66\u8f86\u8fd0\u52a8\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u53c2\u6570\u5316\u4f20\u611f\u5668\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u63d0\u4f9b\u8be6\u7ec6\u7684\u4f20\u611f\u5668\u6a21\u578b\uff0c\u652f\u6301\u53c2\u6570\u5316\u8bbe\u7f6e\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\uff1a}$<\/strong><\/p>\n\n\n\n
    \u53ef\u4ee5\u4e0e\u7b2c\u4e09\u65b9\u4ea4\u901a\u6d41\u8f6f\u4ef6\u96c6\u6210\u3002<\/p>\n\n\n\n
    $\\textbf{\u89c6\u666f\u6e32\u67d3\u8f83\u597d\uff1a}$<\/strong><\/p>\n\n\n\n
    \u56fe\u5f62\u6e32\u67d3\u6548\u679c\u8f83\u597d\uff0c\u9002\u7528\u4e8e\u9ad8\u903c\u771f\u5ea6\u7684\u573a\u666f\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u5f00\u6e90\uff1a}$<\/strong><\/p>\n\n\n\n
    Carla\u662f\u5f00\u6e90\u8f6f\u4ef6\uff0c\u793e\u533a\u652f\u6301\u5e7f\u6cdb\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301OpenDRIVE\uff1a}$<\/strong><\/p>\n\n\n\n
    \u652f\u6301OpenDRIVE\u683c\u5f0f\u7684\u9053\u8def\u7f51\u7edc\u63cf\u8ff0\u3002<\/p>\n\n\n\n
    Apollo<\/strong><\/em><\/strong><\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5382\u5546: Baidu\uff08\u4e2d\u56fd\uff09<\/p>\n\n\n\n
    $\\textbf{\u65e0\u8f66\u8f86\u52a8\u529b\u5b66\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u4e0d\u5305\u542b\u8be6\u7ec6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u5efa\u6a21\u3002<\/p>\n\n\n\n
    $\\textbf{\u53c2\u6570\u5316\u4f20\u611f\u5668\u6a21\u578b\uff1a}$<\/strong><\/p>\n\n\n\n
    \u63d0\u4f9b\u8be6\u7ec6\u7684\u4f20\u611f\u5668\u6a21\u578b\uff0c\u652f\u6301\u53c2\u6570\u5316\u8bbe\u7f6e\u3002<\/p>\n\n\n\n
    $\\textbf{\u81ea\u5e26\u4ea4\u901a\u6d41\u8f6f\u4ef6\uff1a}$<\/strong><\/p>\n\n\n\n
    \u5185\u7f6e\u4ea4\u901a\u6d41\u4eff\u771f\u529f\u80fd\uff0c\u652f\u6301\u590d\u6742\u7684\u4ea4\u901a\u73af\u5883\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u89c6\u666f\u6e32\u67d3\u8f83\u597d\uff1a}$<\/strong><\/p>\n\n\n\n
    \u56fe\u5f62\u6e32\u67d3\u6548\u679c\u8f83\u597d\uff0c\u9002\u7528\u4e8e\u9ad8\u903c\u771f\u5ea6\u7684\u573a\u666f\u4eff\u771f\u3002<\/p>\n\n\n\n
    $\\textbf{\u652f\u6301\u5b9e\u65f6\uff1a}$<\/strong><\/p>\n\n\n\n
    \u53ef\u4ee5\u8fdb\u884c\u5b9e\u65f6\u4eff\u771f\u3002$~~$PreScan \u548c VTD \u4f5c\u4e3a\u5546\u7528\u8f6f\u4ef6\u5e94\u7528\u5e7f\u6cdb\uff0c\u9002\u7528\u4e8e\u4f20\u611f\u5668\u4eff\u771f\u548c\u73af\u5883\u5efa\u6a21.Carla \u4f5c\u4e3a\u5f00\u6e90\u8f6f\u4ef6\uff0c\u5e94\u7528\u4e5f\u6bd4\u8f83\u5e7f\u6cdb\uff0c\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u548c\u4f20\u611f\u5668\u878d\u5408,\u56fd\u5185\u7684\u8f6f\u4ef6\uff08Apollo\uff09 \u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u529f\u80fd\u548c\u826f\u597d\u7684\u89c6\u666f\u6e32\u67d3\uff0c\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u548c\u9ad8\u4fdd\u771f\u73af\u5883\u5efa\u6a21\u3002<\/p>\n\n\n\n
        \u4ee5\u4e0a\u662f\u5173\u4e8e\u667a\u80fd\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u7684\u65b9\u6cd5\u4ee5\u53ca\u9700\u6c42\u5206\u6790\u548c\u4eff\u771f\u8f6f\u4ef6\u7684\u4ecb\u7ecd\uff0c\u4eff\u771f\u6d4b\u8bd5\u5bf9\u667a\u80fd\u81ea\u52a8\u9a7e\u9a76\u7684\u5b9e\u73b0\u662f\u5360\u975e\u5e38\u91cd\u8981\u5730\u4f4d\uff0c\u6210\u719f\u7684\u4eff\u771f\u4f53\u7cfb\u5bf9\u4e3b\u673a\u5382\u4ea7\u54c1\u7684\u4e0a\u5e02\u4e5f\u6709\u4e0d\u53ef\u6216\u7f3a\u7684\u4f5c\u7528\uff0c\u4eff\u771f\u6d4b\u8bd5\u8fd8\u6709\u5f88\u591a\u5176\u4ed6\u7684\u5185\u5bb9\uff0c\u672c\u6587\u53ea\u662f\u5927\u7565\u7684\u5165\u95e8\u6d4b\u8bd5\u9700\u6c42\u548c\u8f6f\u4ef6\u8bf4\u660e\u3002<\/p>\n\n\n\n
    \uff08which $~~$,\\textbf,\\textit,{} is tex form\uff09<\/p>\n","protected":false},"excerpt":{"rendered":"
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