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Area\uff09\u7684\u6982\u5ff5\u626e\u6f14\u7740\u81f3\u5173\u91cd\u8981\u7684\u89d2\u8272\u3002\u8fd9\u4e2a\u6982\u5ff5\u76f4\u63a5\u5173\u7cfb\u5230\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u5b89\u5168\u6027\u548c\u6709\u6548\u6027\uff0c\u7279\u522b\u662f\u5728\u6a21\u62df\u7684\u5fae\u7f29\u57ce\u5e02\u73af\u5883\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-1024x768.png\" alt=\"\" class=\"wp-image-15843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-1024x768.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-300x225.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-768x576.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-1536x1152.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-2048x1536.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-182-1333x1000.png 1333w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b89\u5168\u9a7e\u9a76\u7684\u5173\u952e<\/p>\n\n\n\n<p>\u8def\u5f84\u89c4\u5212\u7684\u57fa\u7840\uff1a\u53ef\u901a\u884c\u533a\u57df\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u63d0\u4f9b\u4e86\u4e00\u4e2a\u660e\u786e\u7684\u3001\u5b89\u5168\u7684\u884c\u9a76\u8303\u56f4\u3002\u5b83\u5e2e\u52a9\u8f66\u8f86\u8bc6\u522b\u54ea\u4e9b\u533a\u57df\u662f\u5b89\u5168\u7684\uff0c\u54ea\u4e9b\u533a\u57df\u53ef\u80fd\u5b58\u5728\u6f5c\u5728\u98ce\u9669\uff0c\u5982\u884c\u4eba\u3001\u5176\u4ed6\u8f66\u8f86\u6216\u969c\u788d\u7269\u3002\n\n\u964d\u4f4e\u78b0\u649e\u98ce\u9669\uff1a\u901a\u8fc7\u660e\u786e\u5b9a\u4e49\u8f66\u8f86\u53ef\u4ee5\u5b89\u5168\u884c\u9a76\u7684\u533a\u57df\uff0c\u53ef\u901a\u884c\u533a\u57df\u663e\u8457\u964d\u4f4e\u4e86\u4e0e\u5176\u4ed6\u8f66\u8f86\u6216\u969c\u788d\u7269\u78b0\u649e\u7684\u53ef\u80fd\u6027\u3002\n\n\u54cd\u5e94\u52a8\u6001\u53d8\u5316\uff1a\u5728\u5b9e\u65f6\u53d8\u5316\u7684\u4ea4\u901a\u73af\u5883\u4e2d\uff0c\u53ef\u901a\u884c\u533a\u57df\u7684\u52a8\u6001\u8c03\u6574\u80fd\u591f\u4f7f\u8f66\u8f86\u5feb\u901f\u54cd\u5e94\u9053\u8def\u72b6\u51b5\u7684\u53d8\u5316\uff0c\u5982\u4e34\u65f6\u65bd\u5de5\u533a\u6216\u7d27\u6025\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u6559\u5b66\u4e0e\u79d1\u7814\u7684\u610f\u4e49<\/p>\n\n\n\n<p>\u5b9e\u9a8c\u4e0e\u9a8c\u8bc1\uff1a\u5728\u667a\u80fd\u7f51\u8054\u4ea4\u901a\u6c99\u76d8\u73af\u5883\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u548c\u5b66\u751f\u53ef\u4ee5\u4f7f\u7528\u5fae\u7f29\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u6765\u5b9e\u9a8c\u548c\u9a8c\u8bc1\u53ef\u901a\u884c\u533a\u57df\u7684\u8bc6\u522b\u6280\u672f\u3002\u8fd9\u79cd\u5fae\u7f29\u6a21\u578b\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5b89\u5168\u4e14\u53ef\u63a7\u7684\u73af\u5883\uff0c\u7528\u4e8e\u6d4b\u8bd5\u548c\u4f18\u5316\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u3002\n\n\u7406\u8bba\u4e0e\u5b9e\u8df5\u7684\u7ed3\u5408\uff1a\u901a\u8fc7\u5728\u6c99\u76d8\u73af\u5883\u4e2d\u6a21\u62df\u771f\u5b9e\u4e16\u754c\u7684\u4ea4\u901a\u60c5\u51b5\uff0c\u5b66\u751f\u53ef\u4ee5\u66f4\u597d\u5730\u7406\u89e3\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u7406\u8bba\uff0c\u5e76\u5c06\u8fd9\u4e9b\u7406\u8bba\u5e94\u7528\u4e8e\u5b9e\u8df5\u3002\n\n\u521b\u65b0\u4e0e\u63a2\u7d22\uff1a\u5728\u8fd9\u79cd\u6a21\u62df\u73af\u5883\u4e2d\uff0c\u53ef\u4ee5\u81ea\u7531\u5730\u6d4b\u8bd5\u65b0\u7684\u60f3\u6cd5\u548c\u65b9\u6cd5\uff0c\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u6280\u672f\u521b\u65b0\u548c\u5b66\u672f\u7814\u7a76\u3002\n\n\u6570\u636e\u6536\u96c6\u4e0e\u5206\u6790\uff1a\u5fae\u7f29\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u53ef\u4ee5\u5728\u6a21\u62df\u73af\u5883\u4e2d\u6536\u96c6\u5927\u91cf\u6570\u636e\uff0c\u4f9b\u7814\u7a76\u4eba\u5458\u5206\u6790\u548c\u4f18\u5316\u53ef\u901a\u884c\u533a\u57df\u8bc6\u522b\u7b97\u6cd5\u3002\n\n    \u53ef\u901a\u884c\u533a\u57df\u7684\u8bc6\u522b\u4e0d\u4ec5\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u5b89\u5168\u8fd0\u884c\u81f3\u5173\u91cd\u8981\uff0c\u800c\u4e14\u5728\u667a\u80fd\u7f51\u8054\u4ea4\u901a\u6c99\u76d8\u548c\u5fae\u7f29\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u7684\u6559\u5b66\u548c\u79d1\u7814\u4e2d\u5177\u6709\u91cd\u5927\u610f\u4e49\u3002\u5b83\u4e3a\u5b66\u751f\u548c\u7814\u7a76\u4eba\u5458\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5b9e\u9645\u7684\u5e73\u53f0\uff0c\u7528\u4e8e\u63a2\u7d22\u3001\u5b9e\u9a8c\u548c\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\uff0c\u7279\u522b\u662f\u5728\u590d\u6742\u7684\u57ce\u5e02\u73af\u5883\u4e2d\u3002\u901a\u8fc7\u8fd9\u4e9b\u5b9e\u8df5\uff0c\u53ef\u4ee5\u52a0\u6df1\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u884c\u4e3a\u7684\u7406\u89e3\uff0c\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n<p>\u751f\u6210\u8fc7\u7a0b\u4e0e\u5047\u8bbe<\/p>\n\n\n\n<p>\u5728Autoware Universe\u4e2d\uff0c\u53ef\u901a\u884c\u533a\u57df\uff08Drivable Area\uff09\u7684\u751f\u6210\u8fc7\u7a0b\u548c\u5047\u8bbe\u662f\u8be5\u5e73\u53f0\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u7684\u6838\u5fc3\u7ec4\u6210\u90e8\u5206\u3002\u8fd9\u4e9b\u5047\u8bbe\u548c\u8fc7\u7a0b\u5b9a\u4e49\u4e86\u8f66\u8f86\u53ef\u4ee5\u5b89\u5168\u884c\u9a76\u7684\u533a\u57df\uff0c\u5e76\u5bf9\u5982\u4f55\u8bc6\u522b\u548c\u5904\u7406\u8fd9\u4e9b\u533a\u57df\u63d0\u4f9b\u4e86\u6307\u5bfc\u3002\u4ee5\u4e0b\u662f\u8be6\u7ec6\u63cf\u8ff0\uff1a<\/p>\n\n\n\n<p>\u751f\u6210\u8fc7\u7a0b<\/p>\n\n\n\n<p>\u53ef\u9a7e\u9a76\u8f66\u9053\u751f\u6210\uff1a\u5728\u751f\u6210\u53ef\u884c\u9a76\u533a\u57df\u4e4b\u524d\uff0c\u9700\u8981\u5bf9\u53ef\u884c\u9a76\u8f66\u9053\u8fdb\u884c\u5206\u7c7b\u3002\u5728\u6bcf\u4e2a\u6a21\u5757\uff08\u3001 Lane Follow \u3001 Avoidance \u3001 Lane Change Goal Planner Pull Out \u7b49\uff09\u4e2d\u9009\u62e9\u53ef\u9a7e\u9a76\u8f66\u9053\uff0c\u56e0\u6b64\u6709\u5173\u9009\u62e9\u53ef\u9a7e\u9a76\u8f66\u9053\u7684\u66f4\u591a\u8be6\u7ec6\u4fe1\u606f\u53ef\u4ee5\u5728\u6bcf\u4e2a\u6a21\u5757\u7684\u6587\u6863\u4e2d\u627e\u5230\u3002\u6211\u4eec\u4f7f\u7528\u4ee5\u4e0b\u7ed3\u6784\u6765\u5b9a\u4e49\u53ef\u884c\u9a76\u8f66\u9053\u3002<\/p>\n\n\n\n<p>struct DrivalbleLanes<br>{<br>lanelet::ConstLanelet right_lanelet; \/\/ right most lane<br>lanelet::ConstLanelet left_lanelet; \/\/ left most lane<br>lanelet::ConstLanelets middle_lanelets; \/\/ middle lanes<br>};<\/p>\n\n\n\n<p>\u6392\u5e8f\u7684\u53ef\u9a7e\u9a76\u8f66\u9053\u7684\u56fe\u50cf\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"464\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-1024x464.png\" alt=\"\" class=\"wp-image-15844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-1024x464.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-300x136.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-768x348.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-1536x697.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-2048x929.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-183-1800x816.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bf7\u6ce8\u610f\uff0c\u53ef\u884c\u9a76\u8f66\u9053\u7684\u987a\u5e8f\u53d8\u4e3a<\/p>\n\n\n\n<p>drivable_lanes = {DrivableLane1, DrivableLanes2, DrivableLanes3, DrivableLanes4, DrivableLanes5}<\/p>\n\n\n\n<p>Drivable Area Generation\uff1agenerateDrivableArea\u51fd\u6570\u8d1f\u8d23\u751f\u6210\u53ef\u901a\u884c\u533a\u57df\u3002\u8be5\u51fd\u6570\u6839\u636e\u5f53\u524d\u7684\u8f66\u9053\u4fe1\u606f\u4ee5\u53ca\u8f66\u8f86\u7684\u4f4d\u7f6e\u548c\u884c\u9a76\u8def\u5f84\uff0c\u786e\u5b9a\u54ea\u4e9b\u533a\u57df\u662f\u5b89\u5168\u7684\u3002<\/p>\n\n\n\n<p>std::vector left_bound;<br>std::vector right_bound;<\/p>\n\n\n\n<p>\u53f3\u754c\u548c\u5de6\u754c\u7684\u6bcf\u4e2a\u70b9\u5728\u7edd\u5bf9\u5750\u6807\u7cfb\u4e2d\u90fd\u6709\u4e00\u4e2a\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"309\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-1024x309.png\" alt=\"\" class=\"wp-image-15845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-1024x309.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-300x91.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-768x232.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-1536x464.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-2048x618.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-184-1800x544.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u9a7e\u9a76\u533a\u57df\u6269\u5c55<\/strong>\uff1a<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<strong>\u9759\u6001\u81a8\u80c0<\/strong>\uff1a\u6bcf\u4e2a\u6a21\u5757\u90fd\u53ef\u4ee5\u901a\u8fc7\u53c2\u6570\u5b9a\u4e49\u7684\u503c\u9759\u6001\u6269\u5c55\u76ee\u6807\u901a\u9053\u7684\u5de6\u53f3\u8fb9\u754c\u3002\u8fd9\u4f7f\u5f97\u5927\u578b\u8f66\u8f86\u80fd\u591f\u901a\u8fc7\u72ed\u7a84\u7684\u5f2f\u9053\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u7684\u5f62\u8c61\u53ef\u4ee5\u63cf\u8ff0\u4e3a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-185-1024x577.png\" alt=\"\" class=\"wp-image-15846\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-185-1024x577.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-185-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-185-768x433.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-185.png 1095w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bf7\u6ce8\u610f\uff0c\u6211\u4eec\u53ea\u6269\u5c55\u6700\u53f3\u8fb9\u8f66\u9053\u7684\u53f3\u8fb9\u754c\u548c\u6700\u5de6\u8fb9\u8f66\u9053\u7684\u5de6\u8fb9\u754c\u3002<\/p>\n\n\n\n<p><strong>\u52a8\u6001\u6269\u5c55&nbsp;<\/strong>\u53ef\u884c\u9a76\u533a\u57df\u4e5f\u53ef\u4ee5\u6839\u636e\u6839\u636e\u8def\u5f84\u66f2\u7387\u548c\u81ea\u6211\u8f66\u8f86\u5c5e\u6027\u8ba1\u7b97\u5f97\u51fa\u7684\u6700\u5c0f\u5bbd\u5ea6\u52a8\u6001\u6269\u5c55\u3002\u5982\u679c\u8fd8\u542f\u7528\u4e86\u9759\u6001\u6269\u5c55\uff0c\u5219\u52a8\u6001\u6269\u5c55\u5c06\u5728\u9759\u6001\u6269\u5c55\u4e4b\u540e\u5b8c\u6210\uff0c\u4ee5\u4fbf\u540c\u65f6\u5e94\u7528\u4e24\u4e2a\u6269\u5c55\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"227\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-1024x227.png\" alt=\"\" class=\"wp-image-15848\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-1024x227.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-300x67.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-768x170.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-1536x341.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187-1800x399.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-187.png 2015w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u65e0\u52a8\u6001\u6269\u5c55\u548c\u5177\u6709\u52a8\u6001\u6269\u5c55\u529f\u80fd<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u7528\u4e8e\u6269\u5c55\u53ef\u884c\u9a76\u533a\u57df\u8fb9\u754c\u7684\u7b97\u6cd5\u3002<br>1 \u8ba1\u7b97\u548c\u5e73\u6ed1\u8def\u5f84\u66f2\u7387<\/p>\n\n\n\n<p>\u4e3a\u4e86\u907f\u514d\u52a8\u6001\u6269\u5c55\u7684\u53ef\u884c\u9a76\u533a\u57df\u7684\u7a81\u7136\u53d8\u5316\uff0c\u6211\u4eec\u9996\u5148\u5c1d\u8bd5\u5c3d\u53ef\u80fd\u591a\u5730\u91cd\u7528\u5148\u524d\u7684\u8def\u5f84\u53ca\u5176\u8ba1\u7b97\u7684\u66f2\u7387\u3002\u5148\u524d\u7684\u8def\u5f84\u70b9\u548c\u66f2\u7387\u5c06\u91cd\u590d\u4f7f\u7528\uff0c\u76f4\u5230\u4e0e\u65b0\u8def\u5f84\u504f\u79bb\u8d85\u8fc7 reuse_max_deviation \u53c2\u6570\u7684\u7b2c\u4e00\u4e2a\u5148\u524d\u8def\u5f84\u70b9\u3002\u5728\u6b64\u9636\u6bb5\uff0c\u8def\u5f84\u4e5f\u6839\u636e \u8fdb\u884c\u91cd\u91c7\u6837\uff0c resampled_interval \u5e76\u6839\u636e max_arc_length \u8fdb\u884c\u88c1\u526a\u3002\u4f7f\u7528\u5f97\u5230\u7684\u9884\u5904\u7406\u8def\u5f84\u70b9\u548c\u5148\u524d\u7684\u66f2\u7387\uff0c\u4f7f\u7528 3 \u70b9\u65b9\u6cd5\u8ba1\u7b97\u65b0\u8def\u5f84\u70b9\u7684\u66f2\u7387\uff0c\u5e76\u4f7f\u7528\u5177\u6709\u7a97\u53e3\u5927\u5c0f curvature_average_window \u7684\u79fb\u52a8\u7a97\u53e3\u5e73\u5747\u503c\u8fdb\u884c\u5e73\u6ed1\u5904\u7406\u3002<br>2 \u5bf9\u4e8e\u6bcf\u4e2a\u8def\u5f84\u70b9\uff0c\u8ba1\u7b97\u6700\u63a5\u8fd1\u7684\u8fb9\u754c\u7ebf\u6bb5\u548c\u6700\u5c0f\u53ef\u884c\u9a76\u533a\u57df\u5bbd\u5ea6<\/p>\n\n\n\n<p>\u5c06\u6bcf\u4e2a\u8def\u5f84\u70b9\u6295\u5f71\u5728\u539f\u59cb\u5de6\u53f3\u53ef\u884c\u9a76\u533a\u57df\u8fb9\u754c\u4e0a\uff0c\u4ee5\u8ba1\u7b97\u5176\u5bf9\u5e94\u7684\u8fb9\u754c\u6307\u6570\u3001\u4e0e\u8fb9\u754c\u7684\u539f\u59cb\u8ddd\u79bb\u4ee5\u53ca\u6295\u5f71\u70b9\u3002\u6b64\u5916\uff0c\u5bf9\u4e8e\u6bcf\u4e2a\u8def\u5f84\u70b9\uff0c\u6700\u5c0f\u53ef\u884c\u9a76\u533a\u57df\u5bbd\u5ea6\u4f7f\u7528\u4ee5\u4e0b\u516c\u5f0f\u8ba1\u7b97\uff1a\u5176\u4e2d \u662f\u6700\u5c0f\u53ef\u884c\u9a76\u533a\u57df\u5bbd\u5ea6\uff0c\u662f\u81ea\u6211\u7684\u524d\u60ac\uff0c\u662f\u81ea\u6211\u7684\u8f74\u8ddd\uff0c \u662f\u81ea\u6211\u7684\u5bbd\u5ea6\uff0c \u662f\u8def\u5f84\u66f2\u7387\u3002\u8be5\u65b9\u7a0b\u6e90\u81ea Lim\uff0c H.\u3001Kim\uff0c C. \u548c Jo\uff0c A. \u7684\u5de5\u4f5c\uff0c\u201c\u57fa\u4e8e\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7684\u5927\u66f2\u7387\u9053\u8def\u4e0a\u81ea\u4e3b\u5927\u578b\u5ba2\u8f66\u6a2a\u5411\u63a7\u5236\u201d<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"523\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188-1024x523.png\" alt=\"\" class=\"wp-image-15849\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188-1024x523.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188-768x392.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188-1536x784.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-188.png 1549w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>3 \u6839\u636e\u77e2\u91cf\u56fe\u7684\u52a8\u6001\u5bf9\u8c61\u548c\u7ebf\u4e32\u8ba1\u7b97\u6bcf\u4e2a\u8fb9\u754c\u70b9\u7684\u6700\u5927\u6269\u5c55\u8ddd\u79bb\uff08\u53ef\u9009\uff09#<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6bcf\u4e2a\u53ef\u884c\u9a76\u533a\u57df\u8fb9\u754c\u70b9\uff0c\u6211\u4eec\u5c06\u5176\u6700\u5927\u6269\u5c55\u8ddd\u79bb\u8ba1\u7b97\u4e3a\u5b83\u4e0e\u6700\u8fd1\u201c\u969c\u788d\u7269\u201d\u7684\u8ddd\u79bb\uff08\u7c7b\u578b avoid_linestrings.type \u4e3a \u7684\u5730\u56fe\u7ebf\u4e32\u6216\u52a8\u6001\u5bf9\u8c61\u8f6e\u5ed3\u7ebf\uff0c\u5982\u679c dynamic_objects.avoid \u8bbe\u7f6e\u4e3a true \uff09\u3002\u5982\u679c\u4e0d\u662f max_expansion_distance 0.0 \uff0c\u5219\u5728\u6b64\u5904\u4f7f\u7528\u5c0f\u4e8e\u5230\u6700\u8fd1\u969c\u788d\u7269\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"748\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-1024x748.png\" alt=\"\" class=\"wp-image-15850\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-1024x748.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-300x219.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-768x561.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-1536x1122.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189-1369x1000.png 1369w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-189.png 1669w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h6 class=\"wp-block-heading\" id=\"4-calculate-by-how-much-each-bound-point-should-be-pushed-away-from-the-path\">4 \u8ba1\u7b97\u6bcf\u4e2a\u8fb9\u754c\u70b9\u5e94\u4ece\u8def\u5f84\u4e0a\u63a8\u5f00\u591a\u5c11#<\/h6>\n\n\n\n<p>\u5bf9\u4e8e\u6bcf\u4e2a\u8fb9\u754c\u70b9\uff0c\u5c06\u8ba1\u7b97\u4e00\u4e2a\u79fb\u4f4d\u8ddd\u79bb\u3002\u4f7f\u5f97\u76f8\u5e94\u7684\u5de6\u53f3\u8fb9\u754c\u70b9\u4e4b\u95f4\u7684\u6700\u7ec8\u5bbd\u5ea6\u5c3d\u53ef\u80fd\u63a5\u8fd1\u6b65\u9aa4 2 \u4e2d\u8ba1\u7b97\u7684\u6700\u5c0f\u5bbd\u5ea6\uff0c\u4f46\u5355\u4e2a\u79fb\u4f4d\u8ddd\u79bb\u4fdd\u6301\u5728\u5148\u524d\u8ba1\u7b97\u7684\u6700\u5927\u6269\u5c55\u8ddd\u79bb\u4ee5\u4e0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"731\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-1024x731.png\" alt=\"\" class=\"wp-image-15851\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-1024x731.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-300x214.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-768x548.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-1536x1097.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190-1401x1000.png 1401w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-190.png 1713w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h6 class=\"wp-block-heading\" id=\"5-shift-bound-points-by-the-values-calculated-in-step-4-and-remove-all-loops-in-the-resulting-bound\">5 \u5c06\u8fb9\u754c\u70b9\u79fb\u81f3\u6b65\u9aa4 4 \u4e2d\u8ba1\u7b97\u7684\u503c\uff0c\u5e76\u5220\u9664\u7ed3\u679c\u8fb9\u754c\u4e2d\u7684\u6240\u6709\u73af#<\/h6>\n\n\n\n<p>\u6700\u540e\uff0c\u6bcf\u4e2a\u8fb9\u754c\u70b9\u901a\u8fc7\u6b65\u9aa4 4 \u4e2d\u8ba1\u7b97\u7684\u8ddd\u79bb\u8fdc\u79bb\u8def\u5f84\u3002\u4e00\u65e6\u6240\u6709\u70b9\u90fd\u79fb\u52a8\u4e86\uff0c\u73af\u5c31\u4f1a\u4ece\u8fb9\u754c\u4e0a\u79fb\u9664\uff0c\u6211\u4eec\u5f97\u5230\u6700\u7ec8\u7684\u6269\u5c55\u53ef\u9a7e\u9a76\u533a\u57df\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-1024x384.png\" alt=\"\" class=\"wp-image-15852\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-1024x384.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-300x112.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-768x288.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-1536x575.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191-1800x674.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-191.png 1877w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\u6700\u5927\u53ef\u884c\u9a76\u533a\u57df\uff08\u8c03\u8bd5\uff09#<\/p>\n\n\n\n<p>\u6709\u65f6\uff0c\u5f00\u53d1\u4eba\u5458\u53ef\u80fd\u4f1a\u5728\u4e24\u4e2a\u5730\u56fe\u4e4b\u95f4\u5f97\u5230\u4e0d\u540c\u7684\u7ed3\u679c\uff0c\u8fd9\u4e9b\u7ed3\u679c\u5728\u76ee\u89c6\u68c0\u67e5\u671f\u95f4\u53ef\u80fd\u770b\u8d77\u6765\u76f8\u540c\u3002<\/p>\n\n\n\n<p>\u4f8b\u5982\uff0c\u5728\u540c\u4e00\u533a\u57df\uff0c\u4e00\u4e2a\u4eba\u53ef\u4ee5\u8fdb\u884c\u56de\u907f\uff0c\u800c\u53e6\u4e00\u4e2a\u4eba\u5219\u4e0d\u80fd\u3002\u8fd9\u53ef\u80fd\u4e0e\u7531\u4e8e\u7528\u6237\u4e0d\u5408\u89c4\u7684\u77e2\u91cf\u5730\u56fe\u8bbe\u8ba1\u800c\u5bfc\u81f4\u7684\u6700\u5927\u53ef\u884c\u9a76\u9762\u79ef\u95ee\u9898\u6709\u5173\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8c03\u8bd5\u95ee\u9898\uff0c\u53ef\u4ee5\u53ef\u89c6\u5316\u6700\u5927\u53ef\u884c\u9a76\u533a\u57df\u8fb9\u754c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"638\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-192-1024x638.png\" alt=\"\" class=\"wp-image-15853\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-192-1024x638.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-192-300x187.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-192-768x479.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-192.png 1158w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6700\u5927\u53ef\u884c\u9a76\u533a\u57df\u53ef\u4ee5\u901a\u8fc7\u6dfb\u52a0\u6807\u8bb0\u6765 \/planning\/scenario_planning\/lane_driving\/behavior_planning\/behavior_path_planner\/maximum_drivable_area \u53ef\u89c6\u5316<br>\u5e26\u6709\u9634\u5f71\u9053\u8def\u6807\u8bb0\u533a\u57df\u7684\u6269\u5c55#<\/p>\n\n\n\n<p>\u5982\u679c\u5728\u8f66\u9053\u5730\u56fe\u4e2d\u5b9a\u4e49\u4e86\u9634\u5f71\u7ebf\u9053\u8def\u6807\u8bb0\u533a\u57df\uff0c\u5219\u8be5\u533a\u57df\u53ef\u7528\u4f5c\u53ef\u9a7e\u9a76\u533a\u57df\u3002\u7531\u4e8e\u8be5\u533a\u57df\u8868\u793a\u4e3a Lanelet2 \u7684\u591a\u8fb9\u5f62\u683c\u5f0f\uff0c\u56e0\u6b64\u9700\u8981\u51e0\u4e2a\u6b65\u9aa4\u624d\u80fd\u6b63\u786e\u5c55\u5f00\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"408\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-408x1024.png\" alt=\"\" class=\"wp-image-15854\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-408x1024.png 408w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-120x300.png 120w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-768x1928.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-612x1536.png 612w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-816x2048.png 816w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-193-398x1000.png 398w\" sizes=\"(max-width: 408px) 100vw, 408px\" \/><\/figure>\n\n\n\n<p>\u52a8\u6001\u8c03\u6574\uff1a\u6839\u636e\u8f66\u8f86\u7684\u5f53\u524d\u4f4d\u7f6e\u548c\u9884\u671f\u884c\u9a76\u8def\u5f84\uff0c\u53ef\u901a\u884c\u533a\u57df\u7684\u5927\u5c0f\u548c\u5f62\u72b6\u4f1a\u52a8\u6001\u8c03\u6574\u3002\u8fd9\u786e\u4fdd\u4e86\u8f66\u8f86\u5728\u53d8\u5316\u7684\u9053\u8def\u548c\u4ea4\u901a\u6761\u4ef6\u4e0b\u6709\u4e00\u4e2a\u660e\u786e\u548c\u5b89\u5168\u7684\u884c\u9a76\u533a\u57df\u3002<br>\u5047\u8bbe<\/p>\n\n\n\n<pre 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