{"id":15964,"date":"2024-09-23T15:28:21","date_gmt":"2024-09-23T07:28:21","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15964"},"modified":"2024-09-23T15:28:46","modified_gmt":"2024-09-23T07:28:46","slug":"15964","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/23\/15964\/","title":{"rendered":"2024-09-23 Autoware Universe\u7684behavior path avoidance\u5728\u667a\u6167\u4ea4\u901a\u81ea\u52a8\u9a7e\u9a76\u6c99\u76d8\u5c0f\u8f66\u4e2d\u7684\u5e94\u7528"},"content":{"rendered":"\n<p>\u6982\u8ff0<\/p>\n\n\n\n<p>Autoware Universe 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size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"995\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-1024x995.png\" alt=\"\" class=\"wp-image-15969\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-1024x995.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-300x291.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-768x746.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-1536x1492.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249-1029x1000.png 1029w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-249.png 1539w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"423\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-250-1024x423.png\" alt=\"\" class=\"wp-image-15970\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-250-1024x423.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-250-300x124.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-250-768x317.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-250.png 1533w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u76ee\u6807\u5bf9\u8c61\u8fc7\u6ee4\u7b97\u6cd5\u6982\u8ff0\u00a0<\/p>\n\n\n\n<p>\u5982\u4f55\u786e\u5b9a\u76ee\u6807\u969c\u788d\u7269<\/p>\n\n\n\n<p>\u907f\u969c\u76ee\u6807\u5e94\u4ec5\u9650\u4e8e\u9759\u6b62\u7684\u7269\u4f53\uff08\u5373\u4f7f\u8f66\u8f86\u6321\u4f4f\u4e86\u60a8\u7684\u8def\u5f84\uff0c\u60a8\u4e5f\u4e0d\u5e94\u907f\u5f00\u5728\u7ea2\u7eff\u706f\u5904\u7b49\u5019\u7684\u8f66\u8f86\uff09\u3002\u56e0\u6b64\uff0c\u907f\u969c\u76ee\u6807\u8f66\u8f86\u5e94\u6ee1\u8db3\u4ee5\u4e0b\u5177\u4f53\u6761\u4ef6\u3002<\/p>\n\n\n\n<p>\u5b83\u4f4d\u4e8e\u60a8\u7684\u8f66\u9053\u9644\u8fd1\uff08\u53c2\u6570\u5316\uff09<\/p>\n\n\n\n<p>\u505c\u6b62\u4e86<\/p>\n\n\n\n<p>threshold_speed_object_is_stopped \uff1a\u7528\u4e8e\u5224\u65ad\u5bf9\u8c61\u662f\u5426\u505c\u6b62\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n<p>threshold_time_object_is_moving \uff1a\u7528\u4e8e\u9632\u6b62\u98a4\u632f\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u5b83\u662f\u4e00\u4e2a\u7279\u5b9a\u7684\u7c7b\u3002<\/p>\n\n\n\n<p>\u7528\u6237\u53ef\u4ee5\u9650\u5236\u907f\u969c\u76ee\u6807\u3002<\/p>\n\n\n\n<p>\u73b0\u5728\uff0c\u907f\u969c\u6a21\u5757\u4ec5\u652f\u6301\u8f66\u8f86\u3002<\/p>\n\n\n\n<p>\u5b83\u4e0d\u5728\u8def\u7ebf\u7684\u4e2d\u5fc3<\/p>\n\n\n\n<p>    \u8fd9\u610f\u5473\u7740\u8f66\u8f86\u505c\u5728\u8f66\u9053\u8fb9\u7f18\u3002\u8fd9\u53ef\u4ee5\u9632\u6b62\u8f66\u8f86\u907f\u5f00\u5728\u8f66\u9053\u4e2d\u95f4\u7684\u7ea2\u7eff\u706f\u5904\u7b49\u5f85\u7684\u8f66\u8f86\u3002\u4f46\u662f\uff0c\u5bf9\u4e8e\u6b64\u76ee\u7684\u6765\u8bf4\uff0c\u8fd9\u4e0d\u662f\u4e00\u4e2a\u5408\u9002\u7684\u5b9e\u73b0\u3002\u5373\u4f7f\u8f66\u8f86\u4f4d\u4e8e\u8f66\u9053\u4e2d\u592e\uff0c\u5982\u679c\u5371\u9669\u4fe1\u53f7\u706f\u4eae\u8d77\uff0c\u4e5f\u5e94\u907f\u5f00\uff0c\u968f\u7740\u8bc6\u522b\u6027\u80fd\u7684\u63d0\u9ad8\uff0c\u8fd9\u4e00\u70b9\u5728\u672a\u6765\u5e94\u8be5\u5f97\u5230\u6539\u8fdb\u3002<\/p>\n\n\n\n<p>\u5bf9\u8c61\u4e0d\u843d\u540e\u4e8e\u5f53\u524d\uff08\u9ed8\u8ba4\u503c\uff1a> &#8211; 2.0 m \uff09\u6216\u592a\u8fdc\uff08\u9ed8\u8ba4\u503c\uff1a&lt; 150.0 m \uff09\uff0c\u5e76\u4e14\u5bf9\u8c61\u4e0d\u843d\u540e\u4e8e\u8def\u5f84\u76ee\u6807\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"325\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-1024x325.png\" alt=\"\" class=\"wp-image-15971\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-1024x325.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-300x95.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-768x243.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-1536x487.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-2048x649.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-251-1800x570.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u505c\u653e\u8f66\u8f86\u68c0\u6d4b&nbsp;<\/p>\n\n\n\n<p>\u4e0d\u4ec5\u8ba1\u7b97\u8ddd\u4e2d\u5fc3\u7ebf\u7684\u957f\u5ea6\uff0c\u8fd8\u8ba1\u7b97\u8ddd\u8def\u80a9\u7684\u957f\u5ea6\uff0c\u5e76\u5c06\u5176\u7528\u4e8e\u8fc7\u6ee4\u8fc7\u7a0b\u3002\u5b83\u8ba1\u7b97\u5bf9\u8c61\u4e2d\u5fc3\u548c\u4e2d\u5fc3\u7ebf <code>shift_length<\/code> \u4e4b\u95f4\u7684\u5b9e\u9645\u957f\u5ea6\u4e0e\u5bf9\u8c61\u53ef\u4ee5\u79fb\u52a8 <code>shiftable_length<\/code> \u7684\u6700\u5927\u957f\u5ea6\u4e4b\u6bd4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"699\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-252.png\" alt=\"\" class=\"wp-image-15972\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-252.png 699w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-252-300x85.png 300w\" sizes=\"(max-width: 699px) 100vw, 699px\" \/><\/figure>\n\n\n\n<p>ld\uff1a\u5b9e\u9645\u73ed\u6b21\u957f\u5ea6<\/p>\n\n\n\n<p>LD\uff1a\u53ef\u79fb\u52a8\u957f\u5ea6<\/p>\n\n\n\n<p>la\uff1a\u4e2d\u5fc3\u7ebf\u4e0e\u6700\u5de6\u8fb9\u8fb9\u754c\u4e4b\u95f4\u7684\u8ddd\u79bb<\/p>\n\n\n\n<p>width\uff1a\u5bf9\u8c61\u5bbd\u5ea6<\/p>\n\n\n\n<p>\u7269\u4f53\u79bb\u80a9\u8180\u8d8a\u8fd1\uff0c\u8be5\u503c\u8d8a\u5927 \uff08\u7406\u8bba\u6700\u5927\u503c\u4e3a1.0\uff09\uff0c\u5e76\u6bd4\u8f83\u8be5\u503c\u5e76 object_check_shiftable_ratio \u786e\u5b9a\u8be5\u7269\u4f53\u662f\u5426\u4e3a\u505c\u653e\u7684\u6c7d\u8f66\u3002\u5982\u679c\u9053\u8def\u6ca1\u6709\u8def\u80a9\uff0c\u5219\u5b9e\u9645\u4e0a\u7528\u4f5c object_check_min_road_shoulder_width \u8def\u80a9\u5bbd\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-1024x401.png\" alt=\"\" class=\"wp-image-15973\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-1024x401.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-768x301.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-1536x601.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-2048x801.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-253-1800x704.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u68c0\u6d4b\u4e22\u5931\u8865\u507f<\/p>\n\n\n\n<p>\u4e3a\u4e86\u9632\u6b62\u8bc6\u522b\u7ed3\u679c\u7684\u91cd\u590d\u7ed3\u679c\uff0c\u4e00\u65e6\u969c\u788d\u7269\u88ab\u5b9a\u4f4d\uff0c\u5373\u4f7f\u5b83\u6d88\u5931\u4e86\uff0c\u5b83\u4e5f\u4f1a\u4fdd\u6301\u4e00\u6bb5\u65f6\u95f4\u3002\u5f53\u8bc6\u522b\u4e0d\u7a33\u5b9a\u65f6\uff0c\u8fd9\u5f88\u6709\u6548\u3002\u4f46\u662f\uff0c\u7531\u4e8e\u4f1a\u5bfc\u81f4\u8fc7\u5ea6\u68c0\u6d4b\uff08\u589e\u52a0\u8bef\u62a5\u6570\u91cf\uff09\uff0c\u56e0\u6b64\u9700\u8981\u6839\u636e\u8bc6\u522b\u51c6\u786e\u7387\u8c03\u6574\u53c2\u6570\uff08\u5982\u679c object_last_seen_threshold = 0.0 \uff0c\u8bc6\u522b\u7ed3\u679c\u662f 100% \u53ef\u4fe1\u7684\uff09\u3002<\/p>\n\n\n\n<p>\u6d41\u7a0b\u56fe<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"866\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254-1024x866.png\" alt=\"\" class=\"wp-image-15974\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254-1024x866.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254-300x254.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254-768x650.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254-1182x1000.png 1182w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-254.png 1521w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"598\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255-1024x598.png\" alt=\"\" class=\"wp-image-15975\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255-1024x598.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255-300x175.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255-768x448.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255-1536x897.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-255.png 1697w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-1024x683.png\" alt=\"\" class=\"wp-image-15976\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-1024x683.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-300x200.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-768x513.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-1536x1025.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-2048x1367.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-256-1498x1000.png 1498w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u907f\u969c\u8def\u5f84\u751f\u6210\u7b97\u6cd5\u6982\u8ff0<\/p>\n\n\n\n<p>\u5982\u4f55\u9632\u6b62\u7531\u611f\u77e5\u566a\u58f0\u5f15\u8d77\u7684\u79fb\u4f4d\u7ebf\u98a4\u52a8<\/p>\n\n\n\n<p>\u7531\u4e8e\u76ee\u6807\u8bc6\u522b\u7ed3\u679c\u5305\u542b\u4e0e\u4f4d\u7f6e\u3001\u65b9\u5411\u548c\u8fb9\u754c\u5927\u5c0f\u76f8\u5173\u7684\u566a\u58f0\uff0c\u5982\u679c\u5c06\u539f\u59cb\u76ee\u6807\u8bc6\u522b\u7ed3\u679c\u7528\u4e8e\u8def\u5f84\u751f\u6210\uff0c\u5219\u907f\u969c\u8def\u5f84\u5c06\u76f4\u63a5\u53d7\u5230\u566a\u58f0\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u4e3a\u4e86\u51cf\u5c11\u566a\u58f0\u7684\u5f71\u54cd\uff0c\u907f\u8ba9\u6a21\u5757\u4e3a\u8986\u76d6\u5b83\u7684\u907f\u8ba9\u76ee\u6807\u751f\u6210\u4e00\u4e2a\u5305\u7edc\u591a\u8fb9\u5f62\uff0c\u5e76\u57fa\u4e8e\u8be5\u591a\u8fb9\u5f62\u751f\u6210\u907f\u8ba9\u8def\u5f84\u3002\u5c06\u751f\u6210\u5305\u7edc\u9762\uff0c\u4f7f\u5176\u5e73\u884c\u4e8e\u53c2\u8003\u8def\u5f84\uff0c\u5e76\u4e14\u9762\u5927\u5c0f\u5927\u4e8e\u56de\u907f\u76ee\u6807\uff08\u5b9a\u4e49\u4e3a object_envelope_buffer \uff09\u3002\u53ea\u8981\u56de\u907f\u76ee\u6807\u5b58\u5728\u4e8e\u8be5\u591a\u8fb9\u5f62\u4e2d\uff0c\u591a\u8fb9\u5f62\u7684\u4f4d\u7f6e\u548c\u5927\u5c0f\u5c31\u4e0d\u4f1a\u66f4\u65b0\u3002<\/p>\n\n\n\n<p>#default value<\/p>\n\n\n\n<p>object_envelope_buffer: 0.3 # [m]<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-1024x462.png\" alt=\"\" class=\"wp-image-15977\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-1024x462.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-768x346.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-1536x692.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-2048x923.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-257-1800x811.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"264\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-1024x264.png\" alt=\"\" class=\"wp-image-15978\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-1024x264.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-300x77.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-768x198.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-1536x396.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-2048x528.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-258-1800x464.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8ba1\u7b97\u79fb\u4f4d\u957f\u5ea6\u548c\u79fb\u4f4d\u70b9<\/p>\n\n\n\n<p>\u6a2a\u5411\u4f4d\u79fb\u957f\u5ea6\u53d7 4 \u4e2a\u53d8\u91cf\u7684\u5f71\u54cd\uff0c\u5373 <code>lateral_collision_safety_buffer<\/code> \u3001 <code>lateral_collision_margin<\/code> <code>vehicle_width<\/code> \u548c <code>overhang_distance<\/code> \u3002\u516c\u5f0f\u5982\u4e0b<\/p>\n\n\n\n<p>avoid_margin = lateral_collision_margin + lateral_collision_safety_buffer + 0.5 * vehicle_width<br>max_allowable_lateral_distance = to_road_shoulder_distance &#8211; road_shoulder_safety_margin &#8211; 0.5 * vehicle_width<br>if(isOnRight(o))<br>{<br>shift_length = avoid_margin + overhang_distance<br>}<br>else<br>{<br>shift_length = avoid_margin &#8211; overhang_distance<br>}<\/p>\n\n\n\n<p>\u4e0b\u56fe\u8bf4\u660e\u4e86\u8fd9\u4e9b\u53d8\u91cf\uff08\u6b64\u56fe\u4ec5\u663e\u793a\u4e86\u6a2a\u5411\u79fb\u4f4d\u957f\u5ea6\u7684\u6700\u5927\u503c\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"290\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-259-1024x290.png\" alt=\"\" class=\"wp-image-15979\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-259-1024x290.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-259-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-259-768x218.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-259.png 1051w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5177\u6709\u5b89\u5168\u7f13\u51b2\u548c\u5b89\u5168\u8ddd\u79bb\u7684\u5fc5\u8981\u6027<\/p>\n\n\n\n<p>\u8981\u8ba1\u7b97\u79fb\u4f4d\u957f\u5ea6\uff0c\u53ef\u4ee5\u8c03\u6574\u7684\u5176\u4ed6\u53c2\u6570\u662f lateral_collision_safety_buffer \u548c road_shoulder_safety_margin \u3002<\/p>\n\n\n\n<p>\u8be5\u53c2\u6570\u7528\u4e8e\u8bbe\u7f6e\u5b89\u5168\u95f4\u9699\uff0c\u8be5 lateral_collision_safety_buffer \u5b89\u5168\u95f4\u9699\u5c06\u4f5c\u4e3a\u8ba1\u7b97\u907f\u8ba9\u8def\u5f84\u65f6\u7684\u6700\u540e\u4e00\u9053\u9632\u7ebf\u3002<\/p>\n\n\n\n<p>\u5177\u6709\u6b64\u53c2\u6570\u7684\u57fa\u672c\u539f\u7406\u662f\uff0c\u7531\u4e8e\u5404\u79cd\u539f\u56e0\uff0c\u8be5\u53c2\u6570 lateral_collision_margin \u53ef\u80fd\u4f1a\u6839\u636e\u60c5\u51b5\u800c\u53d8\u5316\u3002\u56e0\u6b64\uff0c lateral_collision_safety_buffer \u5c06\u4f5c\u4e3a\u4f7f\u7528 lateral_collision_margin \u5931\u8d25\u65f6\u7684\u6700\u540e\u4e00\u9053\u9632\u7ebf\u3002<\/p>\n\n\n\n<p>  \u5efa\u8bae\u5c06\u8be5\u503c\u8bbe\u7f6e\u4e3a\u81ea\u6211\u8f66\u8f86\u5bbd\u5ea6\u7684\u4e00\u534a\u4ee5\u4e0a\u3002<\/p>\n\n\n\n<p>road_shoulder_safety_margin \u8fd9\u5c06\u9632\u6b62\u6a21\u5757\u751f\u6210\u53ef\u80fd\u5bfc\u81f4\u8f66\u8f86\u8fc7\u4e8e\u9760\u8fd1\u8def\u80a9\u6216\u76f8\u90bb\u8f66\u9053\u5206\u754c\u7ebf\u7684\u8def\u5f84\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"412\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-1024x412.png\" alt=\"\" class=\"wp-image-15980\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-1024x412.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-768x309.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-1536x618.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-2048x824.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-260-1800x724.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4ec5\u5728\u8f66\u9053\u8fb9\u754c\u5185\u751f\u6210\u8def\u5f84<\/p>\n\n\n\n<p>\u5728\u5b9e\u73b0\u8981\u7d20\u4e4b\u524d\uff0c\u79fb\u4f4d\u957f\u5ea6\u8bbe\u7f6e\u4e3a\u5e38\u91cf\u503c\u3002\u50cf\u8fd9\u6837\u8bbe\u7f6e\u79fb\u4f4d\u957f\u5ea6\u5c06\u5bfc\u81f4\u6a21\u5757\u751f\u6210\u56de\u907f\u8def\u5f84\uff0c\u800c\u4e0d\u8003\u8651\u5b9e\u9645\u73af\u5883\u5c5e\u6027\u3002\u4f8b\u5982\uff0c\u8def\u5f84\u53ef\u80fd\u8d85\u8fc7\u5b9e\u9645\u9053\u8def\u8fb9\u754c\u6216\u671d\u5411\u5899\u58c1\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u9650\u5236\uff0c\u9664\u4e86\u5982\u4f55\u786e\u5b9a\u76ee\u6807\u969c\u788d\u7269\u5916\uff0c\u8be5\u6a21\u5757\u8fd8\u8003\u8651\u4e86\u4ee5\u4e0b\u9644\u52a0\u5143\u7d20<\/p>\n\n\n\n<p>\u969c\u788d\u7269\u7684\u5f53\u524d\u8f66\u9053\u548c\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u8def\u80a9\u53c2\u7167\u65b9\u5411\u8981\u907f\u5f00\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u5143\u7d20\u7528\u4e8e\u8ba1\u7b97\u4ece\u7269\u4f53\u5230\u8def\u80a9\u7684\u8ddd\u79bb \uff08 to_road_shoulder_distance \uff09\u3002\u53c2\u6570 use_adjacent_lane \u5e76 use_opposite_lane \u5141\u8bb8\u8fdb\u4e00\u6b65\u914d\u7f6e to to_road_shoulder_distance .\u4e0b\u56fe\u8bf4\u660e\u4e86\u914d\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"717\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-1024x717.png\" alt=\"\" class=\"wp-image-15981\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-1024x717.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-300x210.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-768x538.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-1536x1076.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-2048x1435.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-261-1427x1000.png 1427w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"344\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-1024x344.png\" alt=\"\" class=\"wp-image-15982\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-1024x344.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-768x258.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-1536x516.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-2048x689.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-262-1800x605.png 1800w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u679c\u6ee1\u8db3\u4ee5\u4e0b\u6761\u4ef6\u4e4b\u4e00\uff0c <code>false<\/code> \u5219\u4e0d\u4f1a\u751f\u6210\u79fb\u4f4d\u70b9\u3002<\/p>\n\n\n\n<p>\u5230\u8def\u80a9\u7684\u8ddd\u79bb\u5c31\u8db3\u591f\u4e86<\/p>\n\n\n\n<p>avoid_margin = lateral_collision_margin + lateral_collision_safety_buffer + 0.5 * vehicle_width<\/p>\n\n\n\n<p>avoid_margin &lt;= (to_road_shoulder_distance &#8211; 0.5 * vehicle_width &#8211; road_shoulder_safety_margin)<\/p>\n\n\n\n<p>\u969c\u788d\u7269\u4fb5\u5165\u5f53\u524d\u884c\u8f66\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u5f53\u5bf9\u8c61\u4f4d\u4e8e\u8def\u5f84\u53f3\u4fa7\u65f6<\/p>\n\n\n\n<p>-overhang_dist&lt;(lateral_collision_margin + lateral_collision_safety_buffer + 0.5 * vehicle_width)<\/p>\n\n\n\n<p>\u5f53\u5bf9\u8c61\u4f4d\u4e8e\u8def\u5f84\u5de6\u4fa7\u65f6<\/p>\n\n\n\n<p>overhang_dist&lt;(lateral_collision_margin + lateral_collision_safety_buffer + 0.5 * vehicle_width)<\/p>\n\n\n\n<p>\u89c4\u907f\u8def\u5f84\u751f\u6210\u7b97\u6cd5\u7684\u8be6\u7ec6\u4fe1\u606f<\/p>\n\n\n\n<p>\u6d41\u7a0b\u56fe<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"744\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-1024x744.png\" alt=\"\" class=\"wp-image-15983\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-1024x744.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-300x218.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-768x558.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-1536x1116.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263-1376x1000.png 1376w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-263.png 2021w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"499\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-1024x499.png\" alt=\"\" class=\"wp-image-15984\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-1024x499.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-768x374.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-1536x749.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264-1800x877.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-264.png 2017w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u4f55\u786e\u5b9a\u8def\u5f84\u5f62\u72b6<\/p>\n\n\n\n<p>\u4e3a\u5177\u6709\u7ed9\u5b9a\u6a2a\u5411\u98a0\u7c38\u7684\u969c\u788d\u7269\u751f\u6210\u6362\u6863\u70b9\u3002\u8fd9\u4e9b\u70b9\u88ab\u6574\u5408\u4ee5\u751f\u6210\u56de\u907f\u8def\u5f84\u3002\u4e0b\u9762\u63cf\u8ff0\u4e86\u4e0e\u969c\u788d\u7269\u653e\u7f6e\u76f8\u5bf9\u5e94\u7684\u6bcf\u79cd\u60c5\u51b5\u7684\u8be6\u7ec6\u6d41\u7a0b\u3002\u5b9e\u9645\u5b9e\u73b0\u4e0d\u4f1a\u9488\u5bf9\u6bcf\u79cd\u60c5\u51b5\u5206\u5f00\uff0c\u4f46\u5bf9\u5e94\u7684 <code>multiple obstacle case (both directions)<\/code> \u51fd\u6570\u59cb\u7ec8\u5728\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u4e00\u4e2a\u969c\u788d\u6848\u4f8b<\/p>\n\n\n\n<p>\u8ba1\u7b97\u5230\u969c\u788d\u7269\u7684\u6a2a\u5411\u79fb\u4f4d\u8ddd\u79bb\uff0c\u7136\u540e\u6839\u636e\u81ea\u6211\u8f66\u901f\u548c\u7ed9\u5b9a\u7684\u6a2a\u5411\u52a0\u529b\u751f\u6210\u79fb\u4f4d\u70b9\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u7136\u540e\u6839\u636e\u79fb\u4f4d\u70b9\u8ba1\u7b97\u5e73\u6ed1\u907f\u8ba9\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u5728\u7279\u6b8a\u60c5\u51b5\u4e0b\u4f1a\u6267\u884c\u4ee5\u4e0b\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u4fa7\u5411\u633a\u4e3e\u677e\u5f1b\u6761\u4ef6<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5982\u679c\u81ea\u6211\u8f66\u8f86\u63a5\u8fd1\u56de\u907f\u76ee\u6807\uff0c\u6a2a\u5411\u633a\u4e3e\u5c06\u653e\u677e\u5230\u6700\u5927\u633a\u4e3e<\/li>\n\n\n\n<li>\u907f\u969c\u540e\u8fd4\u56de\u4e2d\u5fc3\u7ebf\u65f6\uff0c\u5982\u679c\u8ddd\u79bb\u76ee\u6807\uff08\u8def\u5f84\u5c3d\u5934\uff09\u7684\u8ddd\u79bb\u4e0d\u591f\uff0c\u5219\u5982\u4e0a\u6240\u8ff0\u653e\u5bbd\u6296\u52a8\u6761\u4ef6\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6700\u5c0f\u901f\u5ea6\u677e\u5f1b\u6761\u4ef6<\/p>\n\n\n\n<p>\u6709\u4e00\u4e2a\u95ee\u9898\u662f\uff0c\u6211\u4eec\u65e0\u6cd5\u63d0\u524d\u77e5\u9053\u907f\u8ba9\u8fc7\u7a0b\u4e2d\u7684\u5b9e\u9645\u901f\u5ea6\u3002\u5f53\u81ea\u6211\u8f66\u901f\u4e3a 0 \u65f6\uff0c\u8fd9\u4e00\u70b9\u5c24\u5176\u91cd\u8981\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u8be5\u6a21\u5757\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6700\u5c0f\u907f\u8ba9\u901f\u5ea6\u53c2\u6570\uff0c\u8be5\u53c2\u6570\u7528\u4e8e\u8f66\u901f\u8f83\u4f4e\u65f6\u7684\u6a2a\u5411\u98a0\u52a0\u8ba1\u7b97\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5982\u679c\u81ea\u6211\u8f66\u901f\u4f4e\u4e8e\u201c\u6807\u79f0\u201d\u6700\u5c0f\u901f\u5ea6\uff0c\u5219\u5728\u8ba1\u7b97\u52a0\u529b\u65f6\u4f7f\u7528\u6700\u5c0f\u901f\u5ea6\u3002<\/li>\n\n\n\n<li>\u5982\u679c\u81ea\u6211\u8f66\u901f\u4f4e\u4e8e\u201c\u9510\u201d\u6700\u5c0f\u901f\u5ea6\uff0c\u5e76\u4e14\u6807\u79f0\u6a2a\u5411\u98a0\u7c38\u4e0d\u8db3\u4ee5\u907f\u514d\uff08\u81ea\u6211\u8f66\u8f86\u505c\u5728\u9760\u8fd1\u969c\u788d\u7269\u7684\u60c5\u51b5\u4e0b\uff09\uff0c\u5219\u5728\u8ba1\u7b97\u6025\u901f\u65f6\u4f7f\u7528\u201c\u9510\u201d\u6700\u5c0f\u901f\u5ea6\uff08\u5b83\u5e94\u8be5\u4f4e\u4e8e\u201c\u6807\u79f0\u201d\u901f\u5ea6\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"794\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-1024x794.png\" alt=\"\" class=\"wp-image-15985\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-1024x794.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-300x233.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-768x596.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-1536x1191.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-2048x1588.png 2048w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-265-1289x1000.png 1289w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u591a\u969c\u788d\u7269\u6848\u4f8b\uff08\u5355\u5411\uff09<\/p>\n\n\n\n<p>\u4e3a\u591a\u4e2a\u969c\u788d\u7269\u751f\u6210\u6362\u6863\u70b9\u3002\u5b83\u4eec\u90fd\u4f1a\u5408\u5e76\uff0c\u4ee5\u6cbf\u53c2\u8003\u8def\u5f84\u751f\u6210\u65b0\u7684\u79fb\u4f4d\u70b9\u3002\u5bf9\u65b0\u70b9\u8fdb\u884c\u8fc7\u6ee4\uff08\u4f8b\u5982\uff0c\u5220\u9664\u5c0f\u5f71\u54cd\u7684\u79fb\u4f4d\u70b9\uff09\uff0c\u5e76\u8ba1\u7b97\u8fc7\u6ee4\u540e\u7684\u79fb\u4f4d\u70b9\u7684\u907f\u8ba9\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u539f\u59cb\u79fb\u4f4d\u70b9\u7684\u5408\u5e76\u8fc7\u7a0b\uff1a\u68c0\u67e5\u6bcf\u4e2a\u8def\u5f84\u70b9\u7684\u79fb\u4f4d\u957f\u5ea6\u3002\u5982\u679c\u79fb\u4f4d\u70b9\u91cd\u53e0\uff0c\u5219\u4e3a\u540c\u4e00\u65b9\u5411\u9009\u62e9\u6700\u5927\u79fb\u4f4d\u503c\u3002<\/p>\n\n\n\n<p>\u6709\u5173\u79fb\u4f4d\u70b9\u7b5b\u9009\u7684\u8be6\u7ec6\u4fe1\u606f\uff0c\u8bf7\u53c2\u9605filtering for shift points\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"256\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-1024x256.png\" alt=\"\" class=\"wp-image-15986\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-1024x256.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-300x75.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-768x192.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-1536x383.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266-1800x449.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-266.png 1815w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u591a\u969c\u788d\u7269\u60c5\u51b5\uff08\u53cc\u5411\uff09<\/p>\n\n\n\n<p>\u4e3a\u591a\u4e2a\u969c\u788d\u7269\u751f\u6210\u6362\u6863\u70b9\u3002\u6240\u6709\u8fd9\u4e9b\u90fd\u88ab\u5408\u5e76\u4ee5\u751f\u6210\u65b0\u7684\u79fb\u4f4d\u70b9\u3002\u5982\u679c\u5b58\u5728\u6240\u9700\u73ed\u6b21\u5728\u4e0d\u540c\u65b9\u5411\u4e0a\u53d1\u751f\u51b2\u7a81\u7684\u533a\u57df\uff0c\u5219\u8fd9\u4e9b\u533a\u57df\u7684\u6700\u5927\u73ed\u6b21\u91cf\u4e4b\u548c\u5c06\u7528\u4f5c\u6700\u7ec8\u73ed\u6b21\u91cf\u3002\u8be5\u8fc7\u7a0b\u7684\u5176\u4f59\u90e8\u5206\u4e0e\u5355\u5411\u7684\u60c5\u51b5\u76f8\u540c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"326\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-1024x326.png\" alt=\"\" class=\"wp-image-15987\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-1024x326.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-768x245.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-1536x489.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267-1800x573.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-267.png 1831w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7b5b\u9009\u79fb\u4f4d\u70b9<\/p>\n\n\n\n<p>\u901a\u8fc7\u8fc7\u6ee4\u8fc7\u7a0b\u4fee\u6539\u79fb\u4f4d\u70b9\uff0c\u4ee5\u83b7\u5f97\u907f\u514d\u8def\u5f84\u7684\u9884\u671f\u5f62\u72b6\u3002\u5b83\u5305\u542b\u4ee5\u4e0b\u7b5b\u9009\u5668\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91cf\u5316\uff1a\u91cf\u5316\u56de\u907f\u5bbd\u5ea6\u4ee5\u5ffd\u7565\u5c0f\u504f\u79fb\u3002<\/li>\n\n\n\n<li>\u5c0f\u73ed\u6b21\u79fb\u9664\uff1a\u76f8\u5bf9\u4e8e\u524d\u4e00\u4e2a\u73ed\u6b21\u70b9\u6709\u5c0f\u53d8\u5316\u7684\u73ed\u6b21\u5728\u524d\u4e00\u4e2a\u73ed\u6b21\u5bbd\u5ea6\u4e2d\u7edf\u4e00\u3002<\/li>\n\n\n\n<li>\u7c7b\u4f3c\u68af\u5ea6\u53bb\u9664\uff1a\u7528\u4e00\u6761\u76f4\u7ebf\u8fde\u63a5\u4e24\u4e2a\u79fb\u4f4d\u70b9\uff0c\u5982\u679c\u79fb\u4f4d\u91cf\u5728\u76f4\u7ebf\u9644\u8fd1\uff0c\u5219\u79fb\u9664\u4e2d\u95f4\u7684\u79fb\u4f4d\u70b9\u3002<\/li>\n\n\n\n<li>\u79fb\u9664\u77ac\u65f6\u56de\u7a0b\uff1a\u5bf9\u4e8e\u51cf\u5c0f\u56de\u907f\u5bbd\u5ea6\u7684\u79fb\u4f4d\u70b9\uff08\u7528\u4e8e\u8fd4\u56de\u4e2d\u5fc3\u7ebf\uff09\uff0c\u5982\u679c\u7eb5\u5411\u4e0a\u6709\u8db3\u591f\u7684\u957f\u8ddd\u79bb\uff0c\u8bf7\u5c06\u5176\u79fb\u9664\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5176\u4ed6\u529f\u80fd<\/p>\n\n\n\n<p>\u53ef\u9a7e\u9a76\u9762\u79ef\u6269\u5927<\/p>\n\n\n\n<p>\u8be5\u6a21\u5757\u5177\u6709\u4ee5\u4e0b\u53c2\u6570\uff0c\u7528\u4e8e\u8bbe\u7f6e\u5728\u751f\u6210\u56de\u907f\u8def\u5f84\u65f6\u8def\u5f84\u53ef\u4ee5\u5ef6\u4f38\u5230\u54ea\u4e9b\u533a\u57df\u3002<\/p>\n\n\n\n<p>#drivable area setting<\/p>\n\n\n\n<p>use_adjacent_lane: true<\/p>\n\n\n\n<p>use_opposite_lane: true<\/p>\n\n\n\n<p>use_intersection_areas: false<\/p>\n\n\n\n<p>use_hatched_road_markings: false<\/p>\n\n\n\n<p>\u76f8\u90bb\u8f66\u9053<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"184\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-1024x184.png\" alt=\"\" class=\"wp-image-15988\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-1024x184.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-300x54.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-768x138.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-1536x276.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268-1800x323.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-268.png 1911w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u9762\u8f66\u9053<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"180\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-1024x180.png\" alt=\"\" class=\"wp-image-15989\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-1024x180.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-300x53.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-768x135.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-1536x269.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269-1800x316.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-269.png 1899w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4ea4\u53c9\u533a\u57df<\/p>\n\n\n\n<p>\u4ea4\u53c9\u70b9\u533a\u57df\u5728 Lanelet \u5730\u56fe\u4e0a\u5b9a\u4e49\u3002\u770b\u8fd9\u91cc<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"884\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-1024x884.png\" alt=\"\" class=\"wp-image-15990\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-1024x884.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-300x259.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-768x663.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-1536x1327.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270-1158x1000.png 1158w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-270.png 1893w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u9634\u5f71\u7ebf\u9053\u8def\u6807\u8bb0<\/p>\n\n\n\n<p>\u9634\u5f71\u7ebf\u9053\u8def\u6807\u8bb0\u5728 Lanelet \u5730\u56fe\u4e0a\u5b9a\u4e49\u3002\u770b\u8fd9\u91cc<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-1024x271.png\" alt=\"\" class=\"wp-image-15991\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-1024x271.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-300x79.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-768x203.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-1536x407.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271-1800x476.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-271.png 1923w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b89\u5168\u68c0\u67e5<\/p>\n\n\n\n<p>\u907f\u8ba9\u6a21\u5757\u5177\u6709\u5b89\u5168\u68c0\u67e5\u903b\u8f91\u3002\u5b89\u5168\u68c0\u67e5\u7684\u7ed3\u679c\u7528\u4e8e\u4ea7\u91cf\u64cd\u7eb5\u3002\u901a\u8fc7\u5c06\u5176\u8bbe\u7f6e\u4e3a <code>enable<\/code> <code>true<\/code> \u6765\u542f\u7528\u3002<\/p>\n\n\n\n<p>#safety check configuration<\/p>\n\n\n\n<p>enable: true # [-]<\/p>\n\n\n\n<p>check_current_lane: false # [-]<\/p>\n\n\n\n<p>check_shift_side_lane: true # [-]<\/p>\n\n\n\n<p>check_other_side_lane: false # [-]<\/p>\n\n\n\n<p>check_unavoidable_object: false # [-]<\/p>\n\n\n\n<p>check_other_object: true # [-]<\/p>\n\n\n\n<p>#collision check parameters<\/p>\n\n\n\n<p>check_all_predicted_path: false # [-]<\/p>\n\n\n\n<p>time_horizon: 10.0 # [s]<\/p>\n\n\n\n<p>idling_time: 1.5 # [s]<\/p>\n\n\n\n<p>safety_check_backward_distance: 50.0 # [m]<\/p>\n\n\n\n<p>safety_check_accel_for_rss: 2.5 # [m\/ss]<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-1024x472.png\" alt=\"\" class=\"wp-image-15992\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-1024x472.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-768x354.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-1536x709.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272-1800x830.png 1800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-272.png 2027w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>safety_check_backward_distance \u662f\u4e0e\u5b89\u5168\u68c0\u67e5\u533a\u57df\u76f8\u5173\u7684\u53c2\u6570\u3002\u8be5\u6a21\u5757\u68c0\u67e5\u6362\u6863\u4fa7\u8f66\u9053\u5185\u4ee5\u53ca\u524d\u65b9\u548c safety_check_backward_distance \u540e\u65b9\u7269\u4f53 object_check_forward_distance 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Autoware Universe \u7684\u907f 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