{"id":15770,"date":"2024-09-19T15:39:59","date_gmt":"2024-09-19T07:39:59","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15770"},"modified":"2024-09-19T15:44:32","modified_gmt":"2024-09-19T07:44:32","slug":"autoware-universe%e5%ae%9e%e7%8e%b0%e6%99%ba%e8%83%bd%e7%bd%91%e8%81%94%e4%ba%a4%e9%80%9a%e6%b2%99%e7%9b%98%e5%b0%8f%e8%bd%a6%e7%9a%84%e5%8f%98%e9%81%93%e9%80%bb%e8%be%91","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/19\/15770\/","title":{"rendered":"2024-09-19Autoware Universe\u5b9e\u73b0\u667a\u80fd\u7f51\u8054\u4ea4\u901a\u6c99\u76d8\u5c0f\u8f66\u7684\u53d8\u9053\u903b\u8f91"},"content":{"rendered":"\n

\u5f15\u8a00:<\/p>\n\n\n\n

\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u98de\u901f\u53d1\u5c55\uff0c\u5b83\u5df2\u6210\u4e3a\u4ea4\u901a\u9886\u57df\u521b\u65b0\u7684\u524d\u6cbf\u3002\u5728\u8fd9\u4e2a\u5145\u6ee1\u6311\u6218\u7684\u65b0\u65f6\u4ee3\u4e2d\uff0cAutoware Universe\u4f5c\u4e3a\u4e00\u4e2a\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u5e73\u53f0\uff0c\u4e3a\u7814\u7a76\u548c\u5f00\u53d1\u4eba\u5458\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u5de5\u5177\uff0c\u7528\u4ee5\u5b9e\u73b0\u590d\u6742\u7684\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\uff0c\u5176\u4e2d\u6700\u5f15\u4eba\u6ce8\u76ee\u7684\u4fbf\u662f\u5176\u5148\u8fdb\u7684\u53d8\u9053\u903b\u8f91\u3002<\/p>\n\n\n\n

\u5728\u5b9e\u9645\u9053\u8def\u6761\u4ef6\u4e0b\uff0c\u5b89\u5168\u6709\u6548\u7684\u53d8\u9053\u4e0d\u4ec5\u662f\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5fc5\u987b\u638c\u63e1\u7684\u6280\u80fd\uff0c\u4e5f\u662f\u8861\u91cf\u5176\u667a\u80fd\u5316\u6c34\u5e73\u7684\u91cd\u8981\u6807\u51c6\u3002Autoware Universe\u4e2d\u7684\u53d8\u9053\u903b\u8f91\u901a\u8fc7\u7efc\u5408\u8003\u8651\u8f66\u8f86\u7684\u5f53\u524d\u72b6\u6001\u3001\u5468\u56f4\u73af\u5883\u3001\u4ea4\u901a\u89c4\u5219\u4ee5\u53ca\u9a7e\u9a76\u610f\u56fe\uff0c\u6765\u5b9e\u73b0\u987a\u7545\u4e14\u5b89\u5168\u7684\u8f66\u9053\u53d8\u66f4\u3002\u5b83\u4e0d\u4ec5\u4ec5\u662f\u7b80\u5355\u7684\u8f66\u9053\u5207\u6362\uff0c\u800c\u662f\u4e00\u4e2a\u6d89\u53ca\u591a\u4e2a\u65b9\u9762\u7684\u590d\u6742\u51b3\u7b56\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

\u672c\u6587\u7684\u76ee\u7684\u662f\u63a2\u7d22\u5982\u4f55\u5c06Autoware Universe\u7684\u53d8\u9053\u903b\u8f91\u6210\u529f\u96c6\u6210\u5230\u4e00\u4e2a\u7279\u5b9a\u7684\u5e94\u7528\u573a\u666f\u4e2d\u2014\u2014\u5373\u667a\u80fd\u7f51\u8054\u667a\u6167\u4ea4\u901a\u6c99\u76d8\u5c0f\u8f66\u73af\u5883\u3002\u8fd9\u4e00\u73af\u5883\u4e0d\u540c\u4e8e\u5b9e\u9645\u9053\u8def\uff0c\u5b83\u662f\u4e00\u79cd\u7528\u4e8e\u6559\u80b2\u548c\u7814\u7a76\u7684\u6a21\u62df\u73af\u5883\uff0c\u53ef\u4ee5\u5728\u76f8\u5bf9\u5b89\u5168\u548c\u53ef\u63a7\u7684\u6761\u4ef6\u4e0b\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u3002\u6211\u4eec\u5c06\u8ba8\u8bba\u6c99\u76d8\u5c0f\u8f66\u7684\u786c\u4ef6\u914d\u7f6e\u548c\u8f6f\u4ef6\u67b6\u6784\uff0c\u5982\u4f55\u9002\u914d\u548c\u96c6\u6210Autoware Universe\u7684\u53d8\u9053\u903b\u8f91\uff0c\u5e76\u5c55\u793a\u5177\u4f53\u7684\u5b9e\u73b0\u65b9\u6cd5\u548c\u4ee3\u7801\u793a\u4f8b\u3002<\/p>\n\n\n\n

\u901a\u8fc7\u8fd9\u9879\u5de5\u4f5c\uff0c\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u65e8\u5728\u4e3a\u6559\u80b2\u548c\u79d1\u7814\u4eba\u5458\u63d0\u4f9b\u4e00\u4e2a\u5b9e\u9645\u7684\u6848\u4f8b\uff0c\u5c55\u793a\u5982\u4f55\u5728\u6a21\u62df\u73af\u5883\u4e2d\u5e94\u7528\u548c\u6d4b\u8bd5\u5148\u8fdb\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u3002\u8fd9\u4e0d\u4ec5\u6709\u52a9\u4e8e\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u6559\u5b66\u548c\u7814\u7a76\u6c34\u5e73\uff0c\u4e5f\u4e3a\u672a\u6765\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u90e8\u7f72\u8fd9\u4e9b\u6280\u672f\u5960\u5b9a\u4e86\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n

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

Autoware Universe\u7684\u53d8\u9053\u903b\u8f91\u6982\u8ff0:
\u53d8\u9053\u7684\u5fc5\u8981\u6027:<\/p>\n\n\n\n

\u5728\u590d\u6742\u4e14\u52a8\u6001\u7684\u9053\u8def\u73af\u5883\u4e2d\uff0c\u53d8\u9053\u662f\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5fc5\u987b\u5177\u5907\u7684\u5173\u952e\u80fd\u529b\u4e4b\u4e00\u3002\u53d8\u9053\u7684\u5fc5\u8981\u6027\u4e3b\u8981\u7531\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\u6784\u6210\uff1a<\/p>\n\n\n\n

\u907f\u514d\u969c\u788d\u7269\uff1a\u5728\u9047\u5230\u524d\u65b9\u9053\u8def\u4e0a\u7684\u969c\u788d\u7269\uff0c\u5982\u65bd\u5de5\u533a\u57df\u6216\u505c\u8f66\u8f66\u8f86\u65f6\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u9700\u8981\u901a\u8fc7\u53d8\u9053\u6765\u7ee7\u7eed\u5176\u884c\u7a0b\u3002\n\u4f18\u5316\u884c\u9a76\u8def\u7ebf\uff1a\u4e3a\u4e86\u9075\u5faa\u9884\u5b9a\u7684\u5bfc\u822a\u8def\u7ebf\u6216\u54cd\u5e94\u5b9e\u65f6\u4ea4\u901a\u72b6\u51b5\uff0c\u5982\u907f\u5f00\u62e5\u5835\u533a\u57df\uff0c\u8f66\u8f86\u53ef\u80fd\u9700\u8981\u8fdb\u884c\u53d8\u9053\u3002\n\u9075\u5b88\u4ea4\u901a\u89c4\u5219\uff1a\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\uff0c\u4f8b\u5982\u5373\u5c06\u5230\u8fbe\u7684\u5de6\u8f6c\u6216\u53f3\u8f6c\u8f66\u9053\uff0c\u8f66\u8f86\u9700\u8981\u63d0\u524d\u53d8\u9053\u4ee5\u7b26\u5408\u4ea4\u901a\u89c4\u5219\u3002\n\u5e94\u5bf9\u7d27\u6025\u60c5\u51b5\uff1a\u5728\u7d27\u6025\u60c5\u51b5\u4e0b\uff0c\u5982\u4e3a\u6551\u62a4\u8f66\u6216\u8b66\u8f66\u8ba9\u8def\uff0c\u53d8\u9053\u6210\u4e3a\u5fc5\u8981\u7684\u5e94\u6025\u54cd\u5e94\u3002<\/code><\/pre>\n\n\n\n
Autoware Universe\u4e2d\u7684\u53d8\u9053\u7b97\u6cd5:<\/p>\n\n\n\n
Autoware Universe\u63d0\u4f9b\u4e86\u4e00\u5957\u590d\u6742\u4e14\u6210\u719f\u7684\u53d8\u9053\u903b\u8f91\uff0c\u8be5\u903b\u8f91\u5728\u786e\u4fdd\u5b89\u5168\u548c\u6548\u7387\u7684\u540c\u65f6\uff0c\u5141\u8bb8\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5728\u591a\u79cd\u4ea4\u901a\u60c5\u51b5\u4e0b\u7075\u6d3b\u53d8\u9053\u3002\u8fd9\u4e00\u903b\u8f91\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u5173\u952e\u7ec4\u6210\u90e8\u5206\uff1a<\/p>\n\n\n\n
\u611f\u77e5\u4e0e\u73af\u5883\u7406\u89e3\uff1a\u9996\u5148\uff0c\u7cfb\u7edf\u5229\u7528\u8f66\u8f86\u7684\u4f20\u611f\u5668\u6570\u636e\uff08\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u7b49\uff09\u6765\u51c6\u786e\u611f\u77e5\u5468\u56f4\u73af\u5883\u3002\u8fd9\u5305\u62ec\u8bc6\u522b\u90bb\u8fd1\u8f66\u9053\u7684\u8f66\u8f86\u3001\u969c\u788d\u7269\u3001\u8def\u9762\u6807\u8bb0\u548c\u4ea4\u901a\u4fe1\u53f7\u3002

\u51b3\u7b56\u5236\u5b9a\uff1a

\u53d8\u9053\u51b3\u7b56\u4f9d\u8d56\u4e8e\u8f66\u8f86\u5bf9\u5468\u56f4\u73af\u5883\u7684\u611f\u77e5\u548c\u7406\u89e3\uff0c\u7279\u522b\u662f\u5bf9\u5f53\u524d\u8f66\u9053\u548c\u90bb\u8fd1\u8f66\u9053\u7684\u52a8\u6001\u5bf9\u8c61\u7684\u8bc6\u522b\u3002Autoware Universe\u5728\u53d8\u9053\u8bf7\u6c42\u6761\u4ef6\u6ee1\u8db3\u65f6\u6fc0\u6d3b\u53d8\u9053\u6a21\u5757\uff0c\u8fd9\u4e9b\u6761\u4ef6\u5305\u62ec\uff1a<\/p>\n\n\n\n
 \u8f66\u8f86\u4e0d\u5728\u9996\u9009\u8f66\u9053\u4e0a\u3002<\/p>\n\n\n\n
\u5728\u53d8\u9053\u8def\u5f84\u4e0a\u6ca1\u6709\u4ea4\u53c9\u8def\u53e3\u6216\u4eba\u884c\u6a2a\u9053\u3002<\/p>\n\n\n\n
\u53d8\u9053\u8def\u5f84\u6ca1\u6709\u4e0e\u5176\u4ed6\u52a8\u6001\u5bf9\u8c61\u53d1\u751f\u78b0\u649e\u3002<\/p>\n\n\n\n
\u53d8\u9053\u5019\u9009\u8def\u5f84\u5f97\u5230\u64cd\u4f5c\u5458\u7684\u6279\u51c6\u3002

 \u5f53\u9700\u8981\u53d8\u9053\u65f6\uff0c\u53d8\u9053\u6a21\u5757\u88ab\u6fc0\u6d3b\uff0c\u53ef\u4ee5\u5b89\u5168\u5730\u6267\u884c\u3002<\/p>\n\n\n\n
\u53d8\u9053\u8981\u6c42 <\/p>\n\n\n\n
\u5728\u53d8\u9053\u8bf7\u6c42\u6761\u4ef6\u671f\u95f4<\/p>\n\n\n\n
\u81ea\u6211\u8f66\u8f86\u4e0d\u5728 preferred_lane .<\/p>\n\n\n\n
\u53d8\u9053\u8def\u5f84\u4e0a\u65e2\u6ca1\u6709\u5341\u5b57\u8def\u53e3\u4e5f\u6ca1\u6709\u4eba\u884c\u6a2a\u9053<\/p>\n\n\n\n
\u53d8\u9053\u5c31\u7eea\u6761\u4ef6<\/p>\n\n\n\n
\u53d8\u9053\u8def\u5f84\u4e0d\u4f1a\u4e0e\u5176\u4ed6\u52a8\u6001\u7269\u4f53\u53d1\u751f\u78b0\u649e\uff08\u89c1\u4e0b\u56fe\uff09<\/p>\n\n\n\n
\u53d8\u9053\u5019\u9009\u8def\u5f84\u7531\u64cd\u4f5c\u5458\u6279\u51c6\u3002<\/p>\n\n\n\n
\u751f\u6210\u53d8\u9053\u5019\u9009\u8def\u5f84<\/p>\n\n\n\n
\u53d8\u9053\u5019\u9009\u8def\u5f84\u5206\u4e3a\u51c6\u5907\u548c\u53d8\u9053\u4e24\u4e2a\u9636\u6bb5\u3002\u4e0b\u56fe\u8bf4\u660e\u4e86\u53d8\u9053\u5019\u9009\u8def\u5f84\u7684\u6bcf\u4e2a\u9636\u6bb5\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u51c6\u5907\u9636\u6bb5<\/p>\n\n\n\n
\u51c6\u5907\u8f68\u8ff9\u662f\u5019\u9009\u8def\u5f84\u7684\u7b2c\u4e00\u6761\u548c\u6cbf\u81ea\u6211\u8f66\u8f86\u5f53\u524d\u8f66\u9053\u751f\u6210\u7684\u76f4\u7ebf\u90e8\u5206\u3002\u51c6\u5907\u8f68\u8ff9\u7684\u957f\u5ea6\u8ba1\u7b97\u5982\u4e0b\u3002<\/p>\n\n\n\n
lane_change_prepare_distance = current_speed * lane_change_prepare_duration + 0.5 * deceleration * lane_change_prepare_duration^2<\/p>\n\n\n\n
\u5728\u51c6\u5907\u9636\u6bb5\uff0c\u5f53\u5269\u4f59\u8ddd\u79bb\u7b49\u4e8e\u6216\u5c0f\u4e8e\u65f6\uff0c\u8f6c\u5411\u4fe1\u53f7\u706f\u5c06\u88ab\u6fc0\u6d3b lane_change_search_distance<\/code> \u3002<\/p>\n\n\n\n
\u53d8\u9053\u9636\u6bb5<\/p>\n\n\n\n
\u53d8\u9053\u9636\u6bb5\u5305\u62ec\u5c06\u81ea\u6211\u4ece\u5f53\u524d\u8f66\u9053\u79fb\u52a8\u5230\u76ee\u6807\u8f66\u9053\u7684\u79fb\u52a8\u8def\u5f84\u3002\u53d8\u9053\u9636\u6bb5\u7684\u603b\u8ddd\u79bb\u5982\u4e0b\u3002\u8bf7\u6ce8\u610f\uff0c\u5728\u53d8\u9053\u9636\u6bb5\uff0c\u81ea\u6211\u8f66\u8f86\u4ee5\u6052\u5b9a\u901f\u5ea6\u884c\u9a76\u3002<\/p>\n\n\n\n
lane_change_prepare_velocity = std::max(current_speed + deceleration * lane_change_prepare_duration, minimum_lane_changing_velocity)
lane_changing_distance = lane_change_prepare_velocity * lane_changing_duration<\/p>\n\n\n\n
\u6dfb\u52a0 \u662f\u4e3a\u4e86 backward_length_buffer_for_end_of_lane<\/code> \u4e3a\u4efb\u4f55\u53ef\u80fd\u7684\u5ef6\u8fdf\u7559\u51fa\u4e00\u4e9b\u7a97\u53e3\uff0c\u4f8b\u5982\u5236\u52a8\u6ede\u540e\u671f\u95f4\u7684\u63a7\u5236\u6216\u673a\u68b0\u5ef6\u8fdf\u3002\u00a0<\/p>\n\n\n\n
\u591a\u4e2a\u5019\u9009\u8def\u5f84\u6837\u672c\uff08\u7eb5\u5411\u52a0\u901f\u5ea6\uff09<\/p>\n\n\n\n
\u53d8\u9053\u901f\u5ea6\u53d7\u81ea\u6211\u8f66\u8f86\u5f53\u524d\u901f\u5ea6\u7684\u5f71\u54cd\u3002\u9ad8\u901f\u9700\u8981\u66f4\u957f\u7684\u51c6\u5907\u65f6\u95f4\u548c\u53d8\u9053\u8ddd\u79bb\u3002\u4f46\u662f\uff0c\u6211\u4eec\u8fd8\u9700\u8981\u89c4\u5212\u53d8\u9053\u8f68\u8ff9\uff0c\u4ee5\u9632\u81ea\u6211\u8f66\u8f86\u51cf\u901f\u3002\u8ba1\u7b97\u5047\u8bbe\u81ea\u6211\u8f66\u8f86\u51cf\u901f\u7684\u5019\u9009\u8def\u5f84\u662f\u901a\u8fc7\u5c06\u9884\u5b9a\u7684\u51cf\u901f\u503c\u4ee3\u5165 prepare_length \u548c prepare_velocity lane_changing_length \u65b9\u7a0b\u6765\u6267\u884c\u7684\u3002<\/p>\n\n\n\n
\u9884\u5b9a\u7684\u7eb5\u5411\u52a0\u901f\u5ea6\u503c\u662f\u4ecelongitudinal_acceleration = maximum_longitudinal_acceleration \u5f00\u59cb\u5e76\u9012\u51cf longitudinal_acceleration_resolution \u76f4\u5230\u8fbe\u5230 longitudinal_acceleration = -maximum_longitudinal_deceleration \u7684\u503c\u3002 maximum_longitudinal_acceleration \u516c\u5f0f\u4e3a\uff1a\u5728 common.param \u6587\u4ef6\u4e2d\u5b9a\u4e49\u4e3a normal.min_acc \u3002 maximum_longitudinal_deceleration<\/p>\n\n\n\n
\u5176\u4e2d common_param \u662f\u8f66\u8f86\u516c\u5171\u53c2\u6570\uff0c\u5b83\u5b9a\u4e49\u4e86\u8f66\u8f86\u516c\u5171\u6700\u5927\u7eb5\u5411\u52a0\u51cf\u901f\u3002\u800c lane_change_param \u53d8\u9053\u6a21\u5757\u5177\u6709\u6700\u5927\u7eb5\u5411\u52a0\u51cf\u901f\u3002\u4f8b\u5982\uff0c\u5982\u679c\u7528\u6237\u5c06\u548c common_param.max_acc=1.0 lane_change_param.max_acc=0.0 \u8bbe\u7f6e\u4e3a maximum_longitudinal_acceleration 0.0 \uff0c\u5e76\u4e14\u53d8\u9053\u5728\u53d8\u9053\u9636\u6bb5\u4e0d\u4f1a\u52a0\u901f\u3002<\/p>\n\n\n\n
longitudinal_acceleration_resolution = (maximum_longitudinal_acceleration – minimum_longitudinal_acceleration) \/ longitudinal_acceleration_sampling_num<\/p>\n\n\n\n
\u8bf7\u6ce8\u610f\uff0c\u5f53 \u4f4e\u4e8e minimum_lane_changing_velocity \u65f6 current_velocity \uff0c\u5c0f\u8f66\u9700\u8981\u5c06\u5176\u901f\u5ea6\u52a0\u901f\u5230 minimum_lane_changing_velocity \u3002\u56e0\u6b64\uff0c\u7eb5\u5411\u52a0\u901f\u5ea6\u53d8\u4e3a\u6b63\u503c\uff08\u800c\u4e0d\u662f\u51cf\u901f\uff09\u3002<\/p>\n\n\n\n
\u4e0b\u56fe\u8bf4\u660e\u4e86 longitudinal_acceleration_sampling_num = 4 .\u5047\u8bbe maximum_deceleration = 1.0 \u3001 a0 == 0.0 == no deceleration \u3001 a1 == 0.25 a2 == 0.5 a3 == 0.75 \u548c a4 == 1.0 == maximum_deceleration \u3002 a0 \u662f\u9884\u671f\u7684\u53d8\u9053\u8f68\u8ff9\uff0c\u5e94\u81ea\u8d1f\u8f66\u8f86\u4e0d\u51cf\u901f\uff0c a1 \u800c \u7684\u8def\u5f84\u662f\u9884\u671f\u7684\u53d8\u9053\u8f68\u8ff9\u5e94\u81ea\u8d1f\u8f66\u8f86\u5728 0.25 m\/s^2 \u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u9009\u62e9\u54ea\u6761\u8def\u5f84\u5c06\u53d6\u51b3\u4e8e\u6709\u6548\u6027\u548c\u78b0\u649e\u68c0\u67e5\u3002<\/p>\n\n\n\n
\u591a\u4e2a\u5019\u9009\u8def\u5f84\u6837\u672c\uff08\u6a2a\u5411\u52a0\u901f\u5ea6\uff09\u00a0<\/p>\n\n\n\n
\u9664\u4e86\u5bf9\u7eb5\u5411\u52a0\u901f\u5ea6\u8fdb\u884c\u91c7\u6837\u5916\uff0c\u6211\u4eec\u8fd8\u901a\u8fc7\u8c03\u6574\u6a2a\u5411\u52a0\u901f\u5ea6\u7684\u503c\u5bf9\u53d8\u9053\u8def\u5f84\u8fdb\u884c\u91c7\u6837\u3002\u7531\u4e8e\u6a2a\u5411\u52a0\u901f\u5ea6\u4f1a\u5f71\u54cd\u53d8\u9053\u7684\u6301\u7eed\u65f6\u95f4\uff0c\u56e0\u6b64\u8f83\u4f4e\u7684\u6a2a\u5411\u52a0\u901f\u5ea6\u503c\u4f1a\u5bfc\u81f4\u53d8\u9053\u8def\u5f84\u53d8\u957f\uff0c\u800c\u8f83\u9ad8\u7684\u6a2a\u5411\u52a0\u901f\u5ea6\u503c\u4f1a\u5bfc\u81f4\u53d8\u9053\u8def\u5f84\u53d8\u77ed\u3002\u8fd9\u5141\u8bb8\u53d8\u9053\u6a21\u5757\u5728\u53d8\u9053\u7a7a\u95f4\u6709\u9650\u65f6\u901a\u8fc7\u589e\u52a0\u6a2a\u5411\u52a0\u901f\u5ea6\u6765\u751f\u6210\u66f4\u77ed\u7684\u53d8\u9053\u8def\u5f84\u3002<\/p>\n\n\n\n
\u6700\u5927\u548c\u6700\u5c0f\u6a2a\u5411\u52a0\u901f\u5ea6\u5728\u53d8\u9053\u53c2\u6570\u6587\u4ef6\u4e2d\u4ee5\u5730\u56fe\u5f62\u5f0f\u5b9a\u4e49\u3002\u901a\u8fc7\u5bf9\u5730\u56fe\u4e2d\u7684\u503c\u8fdb\u884c\u7ebf\u6027\u63d2\u503c\u6765\u786e\u5b9a\u6bcf\u4e2a\u901f\u5ea6\u7684\u6a2a\u5411\u52a0\u901f\u5ea6\u8303\u56f4\u3002\u5047\u8bbe\u6211\u4eec\u6709\u4ee5\u4e0b\u5730\u56fe\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u5f53\u81ea\u6211\u8f66\u8f86\u7684\u5f53\u524d\u901f\u5ea6\u4e3a 3.0 \u65f6\uff0c\u6700\u5c0f\u548c\u6700\u5927\u6a2a\u5411\u52a0\u901f\u5ea6\u5206\u522b\u4e3a 0.25 \u548c 0.4\u3002\u8fd9\u4e9b\u503c\u662f\u901a\u8fc7\u5bf9\u5730\u56fe\u7684\u7b2c\u4e8c\u884c\u548c\u7b2c\u4e09\u884c\u8fdb\u884c\u7ebf\u6027\u63d2\u503c\u83b7\u5f97\u7684\uff0c\u5b83\u4eec\u63d0\u4f9b\u4e86\u6700\u5c0f\u548c\u6700\u5927\u6a2a\u5411\u52a0\u901f\u5ea6\u503c\u3002<\/p>\n\n\n\n
\u5728\u8fd9\u4e2a\u8303\u56f4\u5185\uff0c\u6211\u4eec\u5bf9\u81ea\u6211\u8f66\u8f86\u7684\u6a2a\u5411\u52a0\u901f\u5ea6\u8fdb\u884c\u91c7\u6837\u3002\u4e0e\u7528\u4e8e\u7eb5\u5411\u52a0\u901f\u5ea6\u91c7\u6837\u7684\u65b9\u6cd5\u7c7b\u4f3c\uff0c\u6a2a\u5411\u52a0\u901f\u5ea6 \uff08lateral_acceleration_resolution\uff09 \u7684\u5206\u8fa8\u7387\u7531\u4ee5\u4e0b\u56e0\u7d20\u51b3\u5b9a\uff1a<\/p>\n\n\n\n
lateral_acceleration_resolution = (maximum_lateral_acceleration – minimum_lateral_acceleration) \/ lateral_acceleration_sampling_num<\/p>\n\n\n\n
\u5019\u9009\u8def\u5f84\u7684\u6709\u6548\u6027\u68c0\u67e5 <\/h3>\n\n\n\n
\u5982\u679c\u603b\u53d8\u9053\u8ddd\u79bb\u5c0f\u4e8e<\/p>\n\n\n\n
    \n
  1. \u5230\u5f53\u524d\u8f66\u9053\u5c3d\u5934\u7684\u8ddd\u79bb<\/li>\n\n\n\n
  2. \u5230\u4e0b\u4e00\u4e2a\u5341\u5b57\u8def\u53e3\u7684\u8ddd\u79bb<\/li>\n\n\n\n
  3. \u4ece\u5f53\u524d\u59ff\u52bf\u5230\u76ee\u6807\u7684\u8ddd\u79bb\u3002<\/li>\n\n\n\n
  4. \u5230\u4eba\u884c\u6a2a\u9053\u7684\u8ddd\u79bb\u3002<\/li>\n<\/ol>\n\n\n\n
    \u4e0b\u56fe\u8bf4\u660e\u4e86\u6709\u6548\u6027\u68c0\u67e5\u3002 <\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5bf9\u8c61\u9009\u62e9\u548c\u5206\u7c7b<\/p>\n\n\n\n
    \u9996\u5148\uff0c\u6211\u4eec\u5c06\u76ee\u6807\u7269\u4f53\u5206\u4e3a\u76ee\u6807\u8f66\u9053\u4e2d\u7684\u969c\u788d\u7269\u3001\u5f53\u524d\u8f66\u9053\u4e2d\u7684\u969c\u788d\u7269\u548c\u5176\u4ed6\u8f66\u9053\u4e0a\u7684\u969c\u788d\u7269\u3002\u76ee\u6807\u8f66\u9053\u8868\u793a\u53d8\u9053\u540e\u81ea\u6211\u8f66\u8f86\u5c06\u8981\u5230\u8fbe\u7684\u8f66\u9053\uff0c\u5f53\u524d\u8f66\u9053\u8868\u793a\u81ea\u6211\u8f66\u8f86\u5728\u53d8\u9053\u524d\u8ddf\u968f\u7684\u5f53\u524d\u8f66\u9053\u3002\u5176\u4ed6\u8f66\u9053\u662f\u4e0d\u5c5e\u4e8e\u76ee\u6807\u8f66\u9053\u548c\u5f53\u524d\u8f66\u9053\u7684\u8f66\u9053\u3002\u4e0b\u56fe\u63cf\u8ff0\u4e86\u6bcf\u6761\u8f66\u9053\u4e0a\u7684\u7269\u4f53\u3002\u8bf7\u6ce8\u610f\uff0c\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u66f4\u6539\u6807\u5fd7\uff08\u5373 check_objects_on_current_lanes \u548c check_objects_on_other_lanes \uff09\u4ece\u5b89\u5168\u68c0\u67e5\u4e2d\u5220\u9664\u5f53\u524d\u8f66\u9053\u548c\u5176\u4ed6\u8f66\u9053\u4e0a\u7684\u7269\u4f53\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u6b64\u5916\uff0c\u4e3a\u4e86\u5728\u7ea2\u7eff\u706f\u5904\u7b49\u5019\u7684\u8f66\u8f86\u540e\u9762\u53d8\u9053\uff0c\u6211\u4eec\u8df3\u8fc7\u4e86\u5bf9\u7ea2\u7eff\u706f\u9644\u8fd1\u505c\u8f66\u8f66\u8f86\u7684\u5b89\u5168\u68c0\u67e5\u3002\u505c\u653e\u6c7d\u8f66\u68c0\u6d4b\u7684\u8bf4\u660e\u5199\u5728\u907f\u8ba9\u6a21\u5757\u7684\u6587\u6863\u4e2d\u3002
    \u51c6\u5907\u9636\u6bb5\u7684\u78b0\u649e\u68c0\u67e5<\/p>\n\n\n\n
    \u5728\u5c1d\u8bd5\u53d8\u9053\u4e4b\u524d\uff0c\u81ea\u6211\u8f66\u8f86\u53ef\u80fd\u9700\u8981\u5728\u76ee\u6807\u8f66\u8f86\u524d\u65b9\u4fdd\u6301\u8db3\u591f\u7684\u8f66\u8f86\u95f4\u8ddd\u79bb\u3002\u53ef\u4ee5\u542f\u7528\u8be5\u6807\u5fd7 enable_collision_check_at_prepare_phase \u4ee5\u83b7\u5f97\u6b64\u884c\u4e3a\u3002\u4e0b\u56fe\u8bf4\u660e\u4e86 false \u548c true \u6848\u4f8b\u4e4b\u95f4\u7684\u5dee\u5f02\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u8be5\u53c2\u6570 prepare_phase_ignore_target_speed_thresh \u53ef\u4ee5\u914d\u7f6e\u4e3a\u5ffd\u7565\u901f\u5ea6\u4f4e\u4e8e\u7279\u5b9a\u9608\u503c\u7684\u76ee\u6807\uff08\u4f8b\u5982\u9759\u6b62\u6216\u79fb\u52a8\u901f\u5ea6\u975e\u5e38\u6162\u7684\u7269\u4f53\uff09\u7684\u51c6\u5907\u76f8\u4f4d\u78b0\u649e\u68c0\u67e5\u3002<\/p>\n\n\n\n
    \u5982\u679c\u8f66\u9053\u88ab\u963b\u585e\u4e14\u591a\u6b21\u53d8\u9053<\/p>\n\n\n\n
    \u4e0e\u5176\u4ed6\u8f66\u8f86\u4e00\u8d77\u5728\u516c\u5171\u9053\u8def\u4e0a\u884c\u9a76\u65f6\uff0c\u5b58\u5728\u65e0\u6cd5\u6267\u884c\u53d8\u9053\u7684\u60c5\u51b5\u3002\u5047\u8bbe\u5019\u9009\u8def\u5f84\u88ab\u8bc4\u4f30\u4e3a\u4e0d\u5b89\u5168\uff0c\u4f8b\u5982\uff0c\u7531\u4e8e\u76f8\u90bb\u8f66\u9053\u4e0a\u6709\u8f66\u8f86\u8fdb\u5165\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u81ea\u6211\u8f66\u8f86\u65e0\u6cd5\u6539\u53d8\u8f66\u9053\uff0c\u4e5f\u65e0\u6cd5\u8fbe\u5230\u76ee\u6807\u3002\u56e0\u6b64\uff0c\u81ea\u6211\u8f66\u8f86\u5fc5\u987b\u63d0\u524d\u5728\u4e00\u5b9a\u8ddd\u79bb\u5904\u505c\u8f66\uff0c\u5e76\u7b49\u5f85\u76f8\u90bb\u8f66\u9053\u88ab\u8bc4\u4f30\u4e3a\u5b89\u5168\u3002\u6700\u5c0f\u505c\u8f66\u8ddd\u79bb\u53ef\u4ee5\u901a\u8fc7\u6362\u6863\u957f\u5ea6\u548c\u6700\u5c0f\u53d8\u9053\u901f\u5ea6\u8ba1\u7b97\u5f97\u51fa\u3002<\/p>\n\n\n\n
    lane_changing_time = f(shift_length, lat_acceleration, lat_jerk)
    minimum_lane_change_distance = minimum_prepare_length + minimum_lane_changing_velocity * lane_changing_time + lane_change_finish_judge_buffer<\/p>\n\n\n\n
    \u4e0b\u56fe\u8bf4\u660e\u4e86\u5728\u591a\u6b21\u53d8\u9053\u60c5\u51b5\u4e0b\u8f66\u9053\u88ab\u963b\u585e\u7684\u60c5\u51b5\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5f53\u524d\u65b9\u6709\u7269\u4f53\u65f6\u7684\u505c\u6b62\u4f4d\u7f6e<\/h4>\n\n\n\n
    \u5f53\u969c\u788d\u7269\u5728\u81ea\u6211\u8f66\u8f86\u524d\u65b9\u65f6\uff0c\u8bf7\u505c\u4e0b\u6765\u4fdd\u6301\u53d8\u9053\u8ddd\u79bb\u3002\u505c\u8f66\u4f4d\u7f6e\u53d6\u51b3\u4e8e\u60c5\u51b5\uff0c\u4f8b\u5982\u5f53\u53d8\u9053\u88ab\u76ee\u6807\u8f66\u9053\u969c\u788d\u7269\u6321\u4f4f\u65f6\uff0c\u6216\u8005\u4e0d\u9700\u8981\u7acb\u5373\u53d8\u9053\u65f6\u3002\u4e0b\u9762\u663e\u793a\u4e86\u8be5\u60c5\u51b5\u4e0b\u7684\u5212\u5206\u3002<\/p>\n\n\n\n
    <\/a>\u5f53\u81ea\u6211\u8f66\u8f86\u63a5\u8fd1\u53d8\u9053\u7ec8\u70b9\u65f6#<\/h4>\n\n\n\n
    \u65e0\u8bba\u53d8\u9053\u76ee\u6807\u8f66\u9053\u5185\u6709\u65e0\u7269\u4f53\uff0c\u90fd\u5e94\u4fdd\u6301\u53d8\u9053\u65f6\u4e0e\u524d\u65b9\u7269\u4f53\u4fdd\u6301\u5fc5\u8981\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5f53\u81ea\u6211\u8f66\u8f86\u672a\u63a5\u8fd1\u53d8\u9053\u7ec8\u70b9\u65f6#<\/h4>\n\n\n\n
    \u5982\u679c\u76ee\u6807\u8f66\u9053\u7684\u53d8\u9053\u8def\u6bb5\u5185\u6ca1\u6709\u7269\u4f53\uff0c\u8bf7\u4e0e\u524d\u65b9\u7269\u4f53\u4fdd\u6301\u53d8\u9053\u6240\u9700\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5f53\u76ee\u6807\u8f66\u9053\u8ddd\u79bb\u8f83\u8fdc\u65f6#<\/h6>\n\n\n\n
    \u5f53\u53d8\u9053\u7684\u76ee\u6807\u8f66\u9053\u8ddd\u79bb\u8f83\u8fdc\u4e14\u4e0d\u9760\u8fd1\u5f53\u524d\u8f66\u9053\u65f6\uff0c\u8bf7\u52ff\u4e0e\u524d\u65b9\u7269\u4f53\u4fdd\u6301\u53d8\u9053\u6240\u9700\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u5361\u4f4f\u65f6\u53d8\u9053#<\/p>\n\n\n\n
    \u5982\u679c\u81ea\u6211\u8f66\u8f86\u88ab\u505c\u6b62\u5e76\u6ee1\u8db3\u4ee5\u4e0b\u4efb\u4f55\u6761\u4ef6\uff0c\u5219\u8ba4\u4e3a\u5b83\u88ab\u5361\u4f4f\u4e86\uff1a<\/p>\n\n\n\n
    \u5f53\u524d\u8f66\u9053\u524d\u65b9\u6709\u969c\u788d\u7269<\/p>\n\n\n\n
    \u81ea\u6211\u8f66\u8f86\u4f4d\u4e8e\u5f53\u524d\u8f66\u9053\u7684\u5c3d\u5934<\/p>\n\n\n\n
    \u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u4e0e\u5e73\u65f6\u76f8\u6bd4\uff0c\u53d8\u9053\u7684\u5b89\u5168\u68c0\u67e5\u662f\u5bbd\u677e\u7684\u3002\u8be6\u60c5\u8bf7\u53c2\u9605\u201c\u53d8\u9053\u65f6\u78b0\u649e\u68c0\u67e5\u201d\u4e0b\u7684\u201c\u5361\u4f4f\u201d\u90e8\u5206\u3002\u4e3a\u4e86\u5b9e\u73b0\u6b64\u529f\u80fd\uff0c\u6b63\u5728\u6267\u884c\u4e0a\u4e00\u8282\u4e2d\u901a\u8fc7\u4fdd\u6301\u524d\u65b9\u969c\u788d\u7269\u4f59\u91cf\u6765\u505c\u6b62\u7684\u529f\u80fd\u3002
    \u53d8\u9053\u89c4\u5b9a<\/p>\n\n\n\n
    \u5982\u679c\u8981\u8c03\u8282\u4eba\u884c\u6a2a\u9053\u6216\u5341\u5b57\u8def\u53e3\u7684\u53d8\u9053\uff0c\u53d8\u9053\u6a21\u5757\u4f1a\u67e5\u627e\u53d8\u9053\u8def\u5f84\uff08\u4e0d\u5305\u62ec\u4eba\u884c\u6a2a\u9053\u6216\u5341\u5b57\u8def\u53e3\uff09\u3002\u8981\u8c03\u8282\u4eba\u884c\u6a2a\u9053\u6216\u5341\u5b57\u8def\u53e3\u7684\u53d8\u9053\uff0c\u8bf7\u5c06 regulation.crosswalk \u6216regulation.intersection \u66f4\u6539\u4e3a true\u3002\u5982\u679c\u81ea\u6211\u8f66\u8f86\u88ab\u5361\u4f4f\uff0c\u4e3a\u4e86\u907f\u514d\u5361\u4f4f\uff0c\u5b83\u53ef\u4ee5\u5728\u4eba\u884c\u6a2a\u9053\/\u5341\u5b57\u8def\u53e3\u53d8\u9053\u3002\u5982\u679c\u81ea\u6211\u8f66\u8f86\u505c\u6b62\u8d85\u8fc7 stuck_detection.stop_time \u51e0\u79d2\u949f\uff0c\u5219\u88ab\u89c6\u4e3a\u5361\u4f4f\u3002\u5982\u679c\u81ea\u6211\u8f66\u8f86\u901f\u5ea6\u5c0f\u4e8e stuck_detection.velocity \uff0c\u5219\u89c6\u4e3a\u505c\u6b62\u3002
    \u4e2d\u6b62\u53d8\u9053<\/p>\n\n\n\n
    \u4e2d\u6b62\u8fc7\u7a0b\u53ef\u80fd\u5bfc\u81f4\u4e09\u79cd\u4e0d\u540c\u7684\u7ed3\u679c;\u53d6\u6d88\u3001\u4e2d\u6b62\u548c\u505c\u6b62\/\u5de1\u822a\u3002<\/p>\n\n\n\n
    \u4e0b\u9762\u63cf\u8ff0\u4e86\u4e2d\u6b62\u53d8\u9053\u68c0\u67e5\u7684\u6d41\u7a0b\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53d6\u6d88\u53d8\u9053<\/p>\n\n\n\n
    \u5047\u8bbe\u53d8\u9053\u8f68\u8ff9\u88ab\u8bc4\u4f30\u4e3a\u4e0d\u5b89\u5168\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u5982\u679c\u81ea\u6211\u8f66\u8f86\u5c1a\u672a\u504f\u79bb\u5f53\u524d\u8f66\u9053\uff0c\u5219\u8f68\u8ff9\u5c06\u88ab\u91cd\u7f6e\uff0c\u81ea\u6211\u8f66\u8f86\u5c06\u5728\u64cd\u7eb5\u540e\u6062\u590d\u8f66\u9053\u3002<\/p>\n\n\n\n
    \u53ef\u4ee5\u901a\u8fc7\u5c06 \u8bbe\u7f6e\u4e3a enable_on_prepare_phase<\/code> true<\/code> \u542f\u7528\u8be5\u529f\u80fd\u3002<\/p>\n\n\n\n
    \u4e0b\u56fe\u6f14\u793a\u4e86\u53d6\u6d88\u8fc7\u7a0b\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u4e2d\u6b62\u8def\u5f84<\/p>\n\n\n\n
    \u5047\u8bbe\u81ea\u6211\u8f66\u8f86\u5df2\u7ecf\u504f\u79bb\u4e86\u5f53\u524d\u8f66\u9053\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u53d6\u6d88\u8def\u5f84\u662f\u5371\u9669\u7684\uff0c\u5e76\u4e14\u4f1a\u5bfc\u81f4\u81ea\u6211\u8f66\u8f86\u7a81\u7136\u6539\u53d8\u822a\u5411\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u6709\u5fc5\u8981\u89c4\u5212\u4e00\u6761\u8f68\u8ff9\uff0c\u5141\u8bb8\u81ea\u6211\u8f66\u8f86\u8fd4\u56de\u5f53\u524d\u8def\u5f84\uff0c\u540c\u65f6\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c11\u822a\u5411\u53d8\u5316\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u53d8\u9053\u6a21\u5757\u5c06\u751f\u6210\u4e2d\u6b62\u8def\u5f84\u3002\u4e0b\u56fe\u663e\u793a\u4e86\u4e2d\u6b62\u8def\u5f84\u7684\u793a\u4f8b\u3002\u8bf7\u6ce8\u610f\uff0c\u8be5\u51fd\u6570\u4e0d\u80fd\u4fdd\u8bc1\u5b89\u5168\u7684\u4e2d\u6b62\u8fc7\u7a0b\uff0c\u56e0\u4e3a\u5b83\u6ca1\u6709\u68c0\u67e5\u5468\u56f4\u7269\u4f53\u7684\u5b58\u5728\u548c\/\u6216\u5b83\u4eec\u7684\u53cd\u5e94\u3002\u53ef\u4ee5\u901a\u8fc7\u5c06 \u548c enable_on_lane_changing_phase \u8bbe\u7f6e\u4e3a true \u6765 enable_on_prepare_phase \u624b\u52a8\u542f\u7528\u8be5\u529f\u80fd\u3002\u8be5\u53c2\u6570 max_lateral_jerk \u9700\u8981\u8bbe\u7f6e\u4e3a\u8f83\u9ad8\u7684\u503c\u624d\u80fd\u4f7f\u5176\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u505c\u9760\u6216\u8005\u5de1\u822a<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53c2\u6570 <\/h2>\n\n\n\n
    <\/a>\u57fa\u672c\u53d8\u9053\u53c2\u6570<\/h4>\n\n\n\n
    \u4ee5\u4e0b\u53c2\u6570\u53ef\u5728 lane_change.param.yaml<\/code> \u4e2d\u914d\u7f6e\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53d8\u9053\u89c4\u5b9a<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u81ea\u6211\u8f66\u8f86\u5361\u4f4f\u68c0\u6d4b<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53d8\u9053\u65f6\u7684\u78b0\u649e\u68c0\u67e5 <\/h3>\n\n\n\n
    \u4ee5\u4e0b\u53c2\u6570\u53ef\u5728 \u548c lane_change.param.yaml<\/code> \u4e2d behavior_path_planner.param.yaml<\/code> \u914d\u7f6e\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53d6\u6d88<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u8c03\u8bd5\u6807\u8bb0\u548c\u53ef\u89c6\u5316 <\/h3>\n\n\n\n
    \u8981\u542f\u7528\u8c03\u8bd5\u6807\u8bb0\uff0c\u8bf7\u6267\u884c\uff08\u65e0\u9700\u91cd\u65b0\u542f\u52a8\uff09<\/p>\n\n\n\n
    ros2 param set \/planning\/scenario_planning\/lane_driving\/behavior_planning\/behavior_path_planner lane_change.publish_debug_marker true<\/p>\n\n\n\n
    \u6216\u8005\u53ea\u9700\u5c06 publish_debug_marker<\/code> to true<\/code> lane_change.param.yaml<\/code> \u8bbe\u7f6e\u4e3a\u6c38\u4e45\u6548\u679c\uff08\u9700\u8981\u91cd\u65b0\u542f\u52a8\uff09\u3002<\/p>\n\n\n\n
    \u7136\u540e\u6dfb\u52a0\u6807\u8bb0<\/p>\n\n\n\n
    \/planning\/scenario_planning\/lane_driving\/behavior_planning\/behavior_path_planner\/debug\/lane_change_left<\/p>\n\n\n\n
    in rviz2<\/code>.\u00a0\u5728 rviz2<\/code> .<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53ef\u7528\u4fe1\u606f<\/p>\n\n\n\n
      \n
    1. \u81ea\u6211\u4e0e\u5bf9\u8c61\u7684\u5173\u7cfb\uff0c\u4ee5\u53ca\u5b89\u5168\u68c0\u67e5\u4fe1\u606f<\/li>\n\n\n\n
    2. \u81ea\u6211\u8f66\u8f86\u63d2\u503c\u59ff\u52bf\u5230\u6700\u65b0\u7684\u5b89\u5168\u68c0\u67e5\u4f4d\u7f6e\u3002<\/li>\n\n\n\n
    3. \u5bf9\u8c61\u662f\u5426\u5b89\u5168\uff0c\u7531\u591a\u8fb9\u5f62\u7684\u989c\u8272\u663e\u793a\uff08\u7eff\u8272 = \u5b89\u5168\uff0c\u7ea2\u8272 = \u4e0d\u5b89\u5168\uff09<\/li>\n\n\n\n
    4. \u6709\u6548\u7684\u5019\u9009\u8def\u5f84\u3002<\/li>\n\n\n\n
    5. \u53d8\u9053\u5f00\u59cb\u548c\u7ed3\u675f\u65f6\u7684\u4f4d\u7f6e\u3002<\/li>\n<\/ol>\n\n\n\n
      \u76ee\u6807\u8fd8\u5fc5\u987b\u5728\u9996\u9009\u8f66\u9053\u5217\u8868\u4e2d\u3002<\/p>\n\n\n\n
      \u8f68\u8ff9\u89c4\u5212<\/strong>\uff1a\u4e00\u65e6\u51b3\u5b9a\u53d8\u9053\uff0c\u7cfb\u7edf\u5c06\u8ba1\u7b97\u4e00\u6761\u5b89\u5168\u4e14\u5e73\u6ed1\u7684\u8f68\u8ff9\uff0c\u4ee5\u4ece\u5f53\u524d\u8f66\u9053\u5e73\u7a33\u5730\u8fc7\u6e21\u5230\u76ee\u6807\u8f66\u9053\u3002\u8fd9\u9700\u8981\u8003\u8651\u8f66\u8f86\u7684\u52a8\u529b\u5b66\u9650\u5236\u548c\u5468\u56f4\u8f66\u8f86\u7684\u9884\u671f\u8fd0\u52a8\u3002<\/p>\n\n\n\n
      \u6267\u884c\u4e0e\u8c03\u6574<\/strong>\uff1a\u5728\u6267\u884c\u53d8\u9053\u52a8\u4f5c\u65f6\uff0c\u7cfb\u7edf\u4f1a\u6301\u7eed\u76d1\u6d4b\u73af\u5883\u53d8\u5316\uff0c\u5e76\u5728\u5fc5\u8981\u65f6\u8c03\u6574\u8f68\u8ff9\uff0c\u4ee5\u786e\u4fdd\u6574\u4e2a\u53d8\u9053\u8fc7\u7a0b\u7684\u5b89\u5168\u6027\u548c\u8212\u9002\u6027\u3002<\/p>\n\n\n\n
      \u6c99\u76d8\u5c0f\u8f66\u73af\u5883\u4ecb\u7ecd<\/strong>:<\/p>\n\n\n\n
      \u786c\u4ef6\u914d\u7f6e: \u667a\u80fd\u7f51\u8054\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5fae\u7f29\u6c7d\u8f66\u9700\u91c7\u7528\u7b49\u6bd4\u4f8b\u7f29\u653e\u7684\u6a21\u62df\u667a\u80fd\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u7684\u5404\u4e2a\u5173\u952e\u90e8\u4ef6\u548c\u5173\u952e\u6280\u672f\uff0c\u80fd\u591f\u5411\u5b66\u751f\u8bb2\u89e3\u667a\u80fd\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u7684\u539f\u7406\u548c\u7ed3\u6784\u3002\u667a\u80fd\u5fae\u7f29\u8f66\u80fd\u6ee1\u8db3\u901a\u8fc7\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u7b49\u81ea\u4e3b\u5f0f\u611f\u5e94\u8bbe\u5907\u4e3b\u52a8\u611f\u77e5\u5468\u56f4\u73af\u5883\u4fe1\u606f\uff08\u5982\u56fe\u50cf\u6570\u636e\u3001\u524d\u65b9\u969c\u788d\u7269\u8ddd\u79bb\u6570\u636e\uff09\uff0c\u4ee5\u53ca\u901a\u8fc7\u5ba4\u5185\u901a\u8baf\u7f51\u7edc\u7b49\u8bbe\u5907\uff0c\u7f51\u8054\u5f0f\u83b7\u5f97\u5468\u56f4\u4e16\u754c\u6570\u636e\uff08\u5982\u5730\u56fe\u3001\u7ea2\u7eff\u706f\u3001\u95f8\u673a\u3001\u5176\u4ed6\u8f66\u8f86\u4f4d\u7f6e\u6570\u636e\u7b49\uff09\uff0c\u5e76\u901a\u8fc7\u7f16\u7801\u5668\u3001\u60ef\u6027\u5bfc\u822a\u3001\u6fc0\u5149\u96f7\u8fbe\u7b49\u4f20\u611f\u8bbe\u5907\u4e86\u89e3\u81ea\u8eab\u72b6\u6001\uff08\u5982\u8f66\u901f\u3001\u8f66\u59ff\uff09\uff0c\u7ecf\u6570\u636e\u611f\u77e5\u53ca\u878d\u5408\u51b3\u7b56\uff0c\u89c4\u5212\u5168\u5c40\u6700\u4f18\u884c\u9a76\u8def\u5f84\uff0c\u63a7\u5236\u8f66\u8f86\u884c\u9a76\u3002<\/p>\n\n\n\n
      \u8f6f\u4ef6\u67b6\u6784<\/strong>:<\/p>\n\n\n\n
      \u5728\u6c99\u76d8\u5c0f\u8f66\u73af\u5883\u4e2d\uff0c\u8f6f\u4ef6\u67b6\u6784\u662f\u5b9e\u73b0\u667a\u80fd\u7f51\u8054\u8f66\u8def\u534f\u540c\u4eba\u5de5\u667a\u80fd\u81ea\u52a8\u9a7e\u9a76\u7684\u6838\u5fc3\u3002\u8fd9\u91cc\u6d89\u53ca\u7684\u4e24\u5927\u4e3b\u8981\u7ec4\u4ef6\u662fROS2\u7cfb\u7edf\u548cAutoware Universe\u7b97\u6cd5\u3002<\/p>\n\n\n\n
      ROS2\u7cfb\u7edf<\/p>\n\n\n\n
      ROS2\uff08Robot Operating System 2\uff09\u662f\u4e00\u4e2a\u7528\u4e8e\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u6e90\u4e2d\u95f4\u4ef6\u5957\u4ef6\uff0c\u5b83\u662fROS\uff08Robot Operating System\uff09\u7684\u5347\u7ea7\u7248\u3002ROS2\u5e26\u6765\u4e86\u6539\u8fdb\u7684\u5b89\u5168\u6027\u3001\u5b9e\u65f6\u6027\u548c\u652f\u6301\u66f4\u590d\u6742\u7f51\u7edc\u914d\u7f6e\u7684\u80fd\u529b\uff0c\u4f7f\u5176\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u8f6f\u4ef6\u5f00\u53d1\u7684\u7406\u60f3\u9009\u62e9\u3002\u5728\u6c99\u76d8\u5c0f\u8f66\u73af\u5883\u4e2d\uff0cROS2\u7684\u4e3b\u8981\u4f5c\u7528\u5305\u62ec\uff1a<\/p>\n\n\n\n
      \u8282\u70b9\u7ba1\u7406<\/strong>\uff1aROS2\u901a\u8fc7\u8282\u70b9\uff08Nodes\uff09\u7684\u6982\u5ff5\u6765\u7ba1\u7406\u5404\u79cd\u529f\u80fd\u6a21\u5757\uff0c\u5982\u611f\u77e5\u3001\u5b9a\u4f4d\u3001\u51b3\u7b56\u548c\u63a7\u5236\u7b49\u3002<\/p>\n\n\n\n
      \u6570\u636e\u901a\u4fe1<\/strong>\uff1aROS2\u5229\u7528\u8bdd\u9898\uff08Topics\uff09\u3001\u670d\u52a1\uff08Services\uff09\u548c\u52a8\u4f5c\uff08Actions\uff09\u7b49\u673a\u5236\u5b9e\u73b0\u8282\u70b9\u95f4\u7684\u6570\u636e\u901a\u4fe1\u548c\u6307\u4ee4\u4f20\u9012<\/p>\n\n\n\n
      \u5b9e\u65f6\u6027\u80fd<\/strong>\uff1aROS2\u63d0\u4f9b\u4e86\u6539\u8fdb\u7684\u5b9e\u65f6\u6027\uff0c\u8fd9\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5feb\u901f\u53cd\u5e94\u548c\u51c6\u786e\u63a7\u5236\u81f3\u5173\u91cd\u8981<\/p>\n\n\n\n
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      Autoware Universe\u7b97\u6cd5<\/p>\n\n\n\n
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