{"id":16490,"date":"2024-10-09T13:52:34","date_gmt":"2024-10-09T05:52:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16490"},"modified":"2024-10-09T13:52:34","modified_gmt":"2024-10-09T05:52:34","slug":"2024-10-09-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%bb%bf%e7%9c%9f%e6%b5%8b%e8%af%95%e6%a0%87%e5%87%86asam-openx%e7%ae%80%e4%bb%8b","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/09\/16490\/","title":{"rendered":"2024-10-09 \u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u6807\u51c6ASAM OpenX\u7b80\u4ecb"},"content":{"rendered":"\n<p>1.1 \u81ea\u52a8\u9a7e\u9a76\u5b89\u5168\u843d\u5730\u79bb\u4e0d\u5f00\u4eff\u771f\u6d4b\u8bd5<\/p>\n\n\n\n<p>\u5982\u679c\u60f3\u8ba9\u4e00\u8f86Level 5\u7ea7\u522b\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6b63\u5f0f\u4e0a\u8def\uff0c\u5230\u5e95\u9700\u8981\u7ecf\u8fc7\u591a\u5c11\u91cc\u7a0b\u7684\u6d4b\u8bd5\uff1f2016\u5e74\u5170\u5fb7\u667a\u5e93\u66fe\u7ed9\u51fa\u8fc7\u7b54\u6848\uff1a110\u4ebf\u82f1\u91cc\u3002\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u5708\u7684\u9886\u5934\u7f8a\uff0cWaymo\u81ea\u52a8\u9a7e\u9a76\u516c\u5f00\u9053\u8def\u6d4b\u8bd5\u91cc\u7a0b\u5df2\u7a81\u78341000\u4e07\u82f1\u91cc\uff0c\u7136\u800c\u8fd9\u4e2a\u91cc\u7a0b\u79bb110\u4ebf\u82f1\u91cc\u7684\u96f6\u5934\u8fd8\u5dee\u5f88\u8fdc\u3002\u57fa\u4e8e\u573a\u666f\u7684\u865a\u62df\u6d4b\u8bd5\u65b9\u6cd5\u5728\u6d4b\u8bd5\u6548\u7387\u3001\u6d4b\u8bd5\u6210\u672c\uff0c\u573a\u666f\u8986\u76d6\u5ea6\u7b49\u65b9\u9762\u5177\u6709\u5de8\u5927\u7684\u6280\u672f\u4f18\u52bf\uff0c\u662f\u672a\u6765\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6d4b\u8bd5\u9a8c\u8bc1\u7684\u91cd\u8981\u624b\u6bb5\uff0c\u5df2\u6210\u4e3a\u5f53\u524d\u7814\u7a76\u70ed\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1004\" height=\"564\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-9.png\" alt=\"\" class=\"wp-image-16491\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-9.png 1004w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-9-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-9-768x431.png 768w\" sizes=\"(max-width: 1004px) 100vw, 1004px\" \/><\/figure>\n\n\n\n<p>1.2&nbsp;\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u5b58\u5728\u54ea\u4e9b\u5173\u952e\u95ee\u9898<\/p>\n\n\n\n<p>\u76ee\u524d\u57fa\u4e8e\u573a\u666f\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u7814\u53d1\u5230\u6d4b\u8bd5\u3001\u4ece\u4f20\u611f\u5668\u5230\u529f\u80fd\u6a21\u5757\u5404\u9636\u6bb5\u7684\u6570\u636e\u3001\u63a5\u53e3\u6807\u51c6\u7b49\u7f3a\u4e4f\u7edf\u4e00\u6807\u51c6\uff0c\u963b\u788d\u4eff\u771f\u6d4b\u8bd5\u7684\u843d\u5730\u5e94\u7528\u3002<\/p>\n\n\n\n<p>1.3 ASAM\u81f4\u529b\u4e8e\u89e3\u51b3<a href=\"https:\/\/so.csdn.net\/so\/search?q=%E6%96%AD%E7%82%B9&amp;spm=1001.2101.3001.7020\" target=\"_blank\" rel=\"noreferrer noopener\">\u65ad\u70b9<\/a>\u95ee\u9898<\/p>\n\n\n\n<p>ASAM OpenX\u6807\u51c6\u81f4\u529b\u4e8e\u89e3\u51b3\u4eff\u771f\u6d4b\u8bd5\u4e2d\u5404\u73af\u8282\u7684\u6570\u636e\u3001\u63a5\u53e3\u683c\u5f0f\u7b49\u4e0d\u7edf\u4e00\u5e26\u6765\u7684\u95ee\u9898\u3002\u9996\u5148\uff0c\u6211\u4eec\u8981\u5bf9\u6d4b\u8bd5\u573a\u666f\u3001\u9a7e\u9a76\u52a8\u4f5c\u3001\u5224\u65ad\u6761\u4ef6\u8fdb\u884c\u63cf\u8ff0\uff0c\u5c06\u8fd9\u4e9b\u4fe1\u606f\u8f93\u5165\u5230\u6a21\u62df\u73af\u5883\u4e4b\u4e2d\uff0c\u642d\u5efa\u8d77\u4e00\u4e2a\u4eff\u771f\u573a\u666f\u3002\u5728\u5bf9\u4eff\u771f\u8fd0\u884c\u73af\u5883\u8fdb\u884c\u8c03\u8bd5\u4e4b\u540e\uff0c\u8fd9\u4e9b\u4fe1\u606f\u90fd\u4f1a\u4f20\u8f93\u5230\u6d4b\u8bd5\u786c\u4ef6\u4e2d\u8fdb\u884c\u878d\u5408\u548c\u5904\u7406\u3002<\/p>\n\n\n\n<p>\u5728\u8bbe\u8ba1\u8fd9\u6837\u7684\u573a\u666f\u4e4b\u524d\uff0c\u9664\u4e86\u8981\u4fdd\u8bc1\u6574\u4e2a\u6570\u636e\u6d41\u88ab\u6253\u901a\uff0c\u8fd8\u8981\u5728\u6d41\u7a0b\u4e2d\u7684\u96be\u70b9\u4e0a\u5f97\u5230\u53cd\u9988\u3002\u6bd4\u5982\u8bb0\u5f55\u76f8\u5e94\u7684\u6570\u636e\uff0c\u4ee5\u4fbf\u5224\u65ad\u4eff\u771f\u7684\u5185\u5bb9\u662f\u5426\u7b26\u5408\u6d4b\u8bd5\u7684\u76ee\u7684\u7b49\u3002<\/p>\n\n\n\n<p>\u5176\u4e2d\uff0c\u76ee\u524d ASAM \u63cf\u8ff0\u7684\u5173\u7cfb\u5c31\u662f\u4eff\u771f\u73af\u5883\u4e2d\u7684 <a href=\"https:\/\/so.csdn.net\/so\/search?q=OSC&amp;spm=1001.2101.3001.7020\" target=\"_blank\" rel=\"noreferrer noopener\">OSC<\/a> \u548c XODR\uff0c\u4e00\u4e2a\u9488\u5bf9\u5730\u56fe\u4fe1\u606f\uff0c\u4e00\u4e2a\u9488\u5bf9\u573a\u666f\u4fe1\u606f\u3002\u9488\u5bf9\u4f20\u611f\u5668\u4fe1\u606f\u7684\u4e3a OSI\uff0c\u6807\u8bb0\u6570\u636e\u4f20\u611f\u5668\u786c\u4ef6\u4e3a OpenLABEL\uff1b\u9664\u6b64\u4e4b\u5916\u8fd8\u6709 OpenCRG\u7b49\u3002<\/p>\n\n\n\n<p>ASAM\u4eff\u771f\u683c\u5f0f\u6574\u4f53\u6807\u51c6\u5305\u62ec\u4ee5\u4e0b\u4e94\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<p>\uff081\uff09OpenDRIVE\u5bf9\u5e94\u9759\u6001\u5730\u56fe\u573a\u666f\uff0c\u8d1f\u8d23\u63cf\u8ff0\u5730\u56fe\u4fe1\u606f\uff0c\u5305\u62ec\u9ad8\u7cbe\u5730\u56fe\u4fe1\u606f\uff1b<\/p>\n\n\n\n<p>\uff082\uff09OpenCRG\u5bf9\u5e94\u9053\u8def\u8868\u9762\uff0c\u4e13\u6ce8\u4e8e\u8f66\u8f86\u52a8\u529b\u5b66\uff0c\u4ee5\u53ca\u8f66\u8f86\u5bf9\u8def\u9762\u4fe1\u606f\u7684\u53cd\u9988\uff1b<\/p>\n\n\n\n<p>\uff083\uff09OpenSCENARIO\u5bf9\u5e94\u52a8\u6001\u884c\u4e3a\u573a\u666f\uff0c\u4e5f\u5c31\u662f\u63cf\u8ff0\u81ea\u52a8\u9a7e\u9a76\u7684\u6d4b\u8bd5\u573a\u666f\uff1b<\/p>\n\n\n\n<p>\uff084\uff09OSI\u5bf9\u5e94\u4eff\u771f\u63a5\u53e3\uff0c\u6bd4\u5982\u4f20\u611f\u5668\u4eff\u771f\u63a5\u53e3\u6216\u662f\u5404\u79cd\u4fe1\u606f\u7684\u4eff\u771f\u63a5\u53e3\uff1b<\/p>\n\n\n\n<p>\uff085\uff09OpenLABEL\u7814\u7a76\u7684\u662f\u573a\u666f\u6807\u7b7e\u4e0e\u4f20\u611f\u5668\u539f\u59cb\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u4e8c\u3001ASAM\u6807\u51c6\u52a9\u529b\u4eff\u771f\u6d4b\u8bd5\u53d1\u5c55<\/p>\n\n\n\n<p>2.1 ASAM\u53d1\u5c55<\/p>\n\n\n\n<p>\u53d7\u6c7d\u8f66\u884c\u4e1a\u9700\u6c42\u7684\u9a71\u52a8\uff0cOpenX\u6807\u51c6\u57281998\u5e74\u7531\u5fb7\u56fd\u4e3b\u8981\u6574\u8f66\u5382\u521b\u5efa\uff0c\u613f\u666f\u662f\u521b\u5efa\u4e00\u4e2a\u5de5\u7a0b\u3001\u6a21\u62df\u3001\u6d4b\u8bd5\u548c\u81ea\u52a8\u5316\u73af\u5883\uff0c\u5728\u6b64\u73af\u5883\u4e2d\uff0c\u8bbe\u5907\u548c\u8f6f\u4ef6\u5e94\u7528\u7a0b\u5e8f\u53ef\u4ee5\u81ea\u7531\u4e92\u8054\uff0c\u6570\u636e\u53ef\u4ee5\u65e0\u7f1d\u4ea4\u6362\uff0c\u4e3a\u6c7d\u8f66\u884c\u4e1a\u5236\u5b9a\u3001\u63d0\u9ad8\u548c\u63a8\u5e7f\u6807\u51c6\u63d0\u4f9b\u5e73\u53f0\uff0c\u76ee\u524d\u5df2\u670926\u4e2a\u6807\u51c6\u3002<\/p>\n\n\n\n<p>\u4f5c\u4e3a\u4e00\u4e2a\u5b8c\u6574\u7684\u4eff\u771f\u6d4b\u8bd5\u573a\u666f\u63cf\u8ff0\u65b9\u6848\uff0cOpenX\u7cfb\u5217\u6807\u51c6\u5305\u62ec\uff1aOpenDRIVE\u3001OpenSCENARIO\u548cOpenCRG\u3002\u4eff\u771f\u6d4b\u8bd5\u573a\u666f\u9053\u8def\u7f51\u7edc\u90e8\u5206\uff08\u5982\u9053\u8def\u62d3\u6251\u7ed3\u6784\u3001\u4ea4\u901a\u6807\u5fd7\u6807\u7ebf\u7b49\uff09\u7531OpenDRIVE\u6587\u4ef6\u63cf\u8ff0\uff0c\u9053\u8def\u7684\u8868\u9762\u7ec6\u8282\uff08\u5982\u5751\u6d3c\u3001\u5375 \u77f3\u8def\u7b49\uff09\u7531OpenCRG\u6587\u4ef6\u63cf\u8ff0\uff0c\u4eff\u771f\u6d4b\u8bd5\u573a\u666f\u7684\u52a8\u6001\u90e8\u5206\uff08\u5982\u4ea4\u901a\u8f66\u7684\u9a7e\u9a76\u884c\u4e3a\uff09\u7531OpenSCENARIO\u6587\u4ef6\u63cf\u8ff0\u3002<\/p>\n\n\n\n<p>2.2 OpenDRIVE<\/p>\n\n\n\n<p>2.2.1 OpenDRIVE\u7b80\u4ecb<\/p>\n\n\n\n<p>OpenDRIVE\u5b9a\u4e49\u4e86\u4e00\u4e2a\u6807\u51c6\u7684\u9759\u6001\u5730\u56fe\u683c\u5f0f\uff0c\u4ee5\u5b9e\u73b0\u4e0d\u540c\u4eff\u771f\u6d4b\u8bd5\u8f6f\u4ef6\u7684\u517c\u5bb9\u6027\u30022006\u5e74\u7531\u5fb7\u56fdVIRES\u516c\u53f8\u53d1\u5e03\uff0c\u5e76\u53cd\u590d\u7684\u8fed\u4ee3\uff0cOpenDRIVE 1.5\u7248\u672c\u4e8e2019\u5e74\u53d1\u5e03\u30022018\u5e749\u6708\uff0cOpenDRIVE\u7684\u5f00\u53d1\u56e2\u961f\u5c06\u7ef4\u62a4\u5de5\u4f5c\u8f6c\u4ea4\u7ed9\u5fb7\u56fdASAM\u6807\u51c6\u5316\u7ec4\u7ec7\uff0c1.6\u53ca\u4e4b\u540e\u7684\u7248\u672c\u7531ASAM\u8d1f\u8d23\u3002<\/p>\n\n\n\n<p>OpenDRIVE\u5f00\u53d1\u8d77\u56e0\u662fVIRES\u516c\u53f8\u5728\u63d0\u4f9b\u9a7e\u9a76\u6a21\u62df\u5668\u65b9\u6848\u65f6\uff0c\u53d1\u73b0\u4e0d\u540c\u5de5\u5177\u7684\u9053\u8def\u6570\u636e\u683c\u5f0f\u4e2d\u9700\u8981\u5305\u542b\u903b\u8f91\u5185\u5bb9\u662f\u57fa\u672c\u4e00\u81f4\u7684\uff0c\u4e3a\u4e86\u65b9\u4fbf\u5728\u4e0d\u540c\u7684\u9a7e\u9a76\u6a21\u62df\u5668\u95f4\u8fdb\u884c\u9053\u8def\u6570\u636e\u7684\u4f20\u9012\uff0cVIRES\u516c\u53f8\u4e0eDaimler Driving Simulator\u90e8\u95e8\u51b3\u5b9a\u5f00\u53d1OpenDRIVE\u683c\u5f0f\u3002\u8f6c\u4ea4\u7ed9ASAM\u7ec4\u7ec7\u540e\uff0cASAM\u7ec4\u7ec7\u540c\u6837\u628aOpenDRIVE\u5b9a\u4f4d\u4e3a\u7528\u4e8e\u4eff\u771f\u6d4b\u8bd5\u7684\u5730\u56fe\u683c\u5f0f\u3002<\/p>\n\n\n\n<p>OpenDRIVE\u6587\u4ef6\u6309XML\u683c\u5f0f\u7f16\u5199\uff0c\u6587\u4ef6\u6269\u5c55\u540d\u4e3a.xodr\u3002<\/p>\n\n\n\n<p>2.2.2 OpenDRIVE\u9053\u8def\u4fe1\u606f<\/p>\n\n\n\n<p>OpenDRIVE\u5c06\u9053\u8def\u5206\u4e3a\u4e86\u4e09\u4e2a\u90e8\u5206\uff1a\u9053\u8def\u53c2\u8003\u7ebf\uff08reference line\uff09\u3001\u8f66\u9053\uff08lanes\uff09\u548c\u9053\u8def\u8bbe\u65bd\uff08features\uff09\u3002\u9664\u6b64\u4ee5\u5916\uff0c\u8fd8\u53ef\u4ee5\u8bbe\u7f6e\u9053\u8def\u7684\u9ad8\u5ea6\uff08elevation\uff09\uff0c\u5bf9\u4e8e\u591a\u6761\u9053\u8def\u6c47\u805a\u7684\u4f4d\u7f6e\u9700\u8981\u7528\u8def\u53e3\uff08junctions\uff09\u6765\u63cf\u8ff0\u3002<\/p>\n\n\n\n<p>\uff081\uff09\u9053\u8def\u53c2\u8003\u7ebf<\/p>\n\n\n\n<p>\u9053\u8def\u53c2\u8003\u7ebf\u53ef\u4ee5\u7406\u89e3\u4e3a\u9053\u8def\u4e2d\u5fc3\u7ebf\u5728\u6c34\u5e73\u9762\u7684\u6295\u5f71\uff0c\u4e5f\u5c31\u662f\u8bf4\u9053\u8def\u53c2\u8003\u7ebf\u53cd\u6620\u7684\u662f\u9053\u8def\u4fef\u89c6\u7684\u5f62\u72b6\uff0c\u800c\u4e0d\u5305\u62ec\u5761\u5ea6\u3001\u8d77\u4f0f\u7b49\u7279\u5f81\u3002\u6bcf\u6761\u9053\u8def\u6709\u4e14\u4ec5\u6709\u4e00\u6761\u9053\u8def\u53c2\u8003\u7ebf\uff0c\u8be5\u53c2\u8003\u7ebf\u53ef\u4ee5\u6709\u591a\u6761\u66f2\u7ebf\u8fde\u63a5\u800c\u6210\uff0c\u8fd9\u4e9b\u66f2\u7ebf\u7684\u5f62\u5f0f\u5305\u62ec\uff1a\u76f4\u7ebf\u3001\u87ba\u65cb\u7ebf\u3001\u5706\u5f27\u3001\u548c\u4e09\u6b21\u591a\u9879\u5f0f\u53c2\u6570\u65b9\u7a0b\u7b49\u3002<\/p>\n\n\n\n<p>\uff082\uff09\u8f66\u9053<\/p>\n\n\n\n<p>\u6bcf\u6761\u9053\u8def\u90fd\u53ef\u4ee5\u8bbe\u7f6e\u5927\u4e8e\u7b49\u4e8e\u4e00\u6761\u8f66\u9053\uff0c\u53ef\u4ee5\u6709\u591a\u6761\u8f66\u9053\uff0c\u8fd8\u53ef\u4ee5\u901a\u8fc7\u8bbe\u7f6e\u4e0d\u540c\u7684\u8f66\u9053\u5206\u6bb5\u6765\u5b9e\u73b0\u4e0d\u540c\u533a\u57df\u7684\u8f66\u9053\u6570\u91cf\u548c\u8f66\u9053\u5bbd\u5ea6\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n<p>\u8f66\u9053\u53ef\u4ee5\u8bbe\u7f6e\u4e0d\u540c\u7684\u5c5e\u6027\uff0c\u5305\u62ec\uff1a\u5bbd\u5ea6\u3001\u7c7b\u578b\uff08\u5982\u884c\u8f66\u9053\u3001\u505c\u8f66\u533a\u57df\u3001\u884c\u4eba\u9053\u7b49\uff09\u3001\u6750\u8d28\uff08\u5305\u62ec\u6469\u64e6\u7cfb\u6570\uff09\u3001\u9650\u901f\u3001\u8def\u6743\uff08\u53ef\u4ee5\u8bbe\u7f6e\u516c\u4ea4\u4e13\u7528\u9053\uff09\u3001\u8f66\u9053\u7ebf\u7b49\u3002<\/p>\n\n\n\n<p>\uff083\uff09\u9053\u8def\u8bbe\u65bd<\/p>\n\n\n\n<p>\u9053\u8def\u8bbe\u65bd\u5305\u62ec\u7269\u4f53\uff08objects\uff09\u548c\u4ea4\u901a\u4fe1\u53f7\uff08signals\uff09\u4e24\u79cd\u3002<\/p>\n\n\n\n<p>\uff084\uff09\u9053\u8def\u9ad8\u5ea6<\/p>\n\n\n\n<p>\u9053\u8def\u7684\u9ad8\u5ea6\u5305\u62ec\u7eb5\u5411\u5761\u5ea6\uff08\u5373\u6cbf\u884c\u9a76\u65b9\u5411\u7684\u9ad8\u4f4e\u8d77\u4f0f\uff09\u3001\u8d85\u9ad8\uff08\u5373\u9053\u8def\u6a2a\u5411\u7684\u5761\u5ea6\uff0c\u4f8b\u5982\u8f6c\u5f2f\u5904\u5916\u4fa7\u8f83\u9ad8\uff09\uff0c\u751a\u81f3\u53ef\u4ee5\u8bbe\u7f6e\u6a2a\u5411\u590d\u6742\u7684\u5f62\u72b6\uff08\u5982\u8def\u9762\u4e2d\u95f4\u51f8\u8d77\u4fbf\u4e8e\u6392\u6c34\u7684\u5f62\u72b6\uff09\u3002<\/p>\n\n\n\n<p>\uff085\uff09\u8def\u53e3<\/p>\n\n\n\n<p>\u5f53\u4e09\u6761\u53ca\u4ee5\u4e0a\u9053\u8def\u76f8\u4ea4\u3001\u65e0\u6cd5\u6e05\u695a\u63cf\u8ff0\u9053\u8def\u7684\u8fde\u63a5\u5173\u7cfb\u65f6\uff0c\u9700\u8981\u7528\u5230\u8def\u53e3\u3002\u8def\u53e3\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u6765\u8def\uff08incomingroads\uff09\u3001\u53bb\u8def\uff08outgoing roads\uff09\u548c\u8fde\u63a5\u8def\uff08connectingroads\uff09\u7ec4\u6210\u3002<\/p>\n\n\n\n<p>2.2.3 OpenDRIVE\u4e3b\u8981\u8bbe\u8ba1\u6a21\u5f0f<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp;&nbsp;\u521b\u5efa\u53c2\u8003\u7ebf\uff1a\u7ebf\u3001\u89d2\u5ea6\u3001\u87ba\u65cb\u7ebf\u3001\u591a\u6bb5\u7ebf<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp;&nbsp;\u6cbf\u53c2\u8003\u7ebf\u6dfb\u52a0\u8f66\u9053\uff1a\u5bbd\u5ea6\u3001\u94fe\u63a5\u3001\u6750\u6599\u3001\u8def\u6807<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp;&nbsp;\u6dfb\u52a0\u7279\u5f81\uff1a\u6807\u5fd7\u3001\u4fe1\u53f7\u3001\u5bf9\u8c61\u3001\u9ad8\u7a0b<\/p>\n\n\n\n<p>2.3 OpenCRG<\/p>\n\n\n\n<p>OpenCRG\u4e8e2008\u5e74\u7531\u6234\u59c6\u52d2\u4e0e\u5965\u8fea\u3001\u5b9d\u9a6c\u3001\u4fdd\u65f6\u6377\u548c\u5927\u4f17\u5171\u540c\u53d1\u8d77.OpenCRG\u7684\u6587\u4ef6\u683c\u5f0f\u96c6\u6210\u5728OpenDRIVE\u4e2d\uff0c\u4e3b\u8981\u5bf9\u8def\u9762\u683c\u5f0f\u8fdb\u884c\u4e86\u8be6\u7ec6\u63cf\u8ff0\u3002<\/p>\n\n\n\n<p>\u7528\u4e8e\u4ee5\u975e\u5e38\u8be6\u7ec6\u7684\u65b9\u5f0f\u63cf\u8ff0\u9053\u8def\u8868\u9762\u7684\u533a\u5757\uff0c\u4ee5\u4fbf\u8fdb\u884c:\u8f6e\u80ce\u6a21\u62df\u3001\u632f\u52a8\u6a21\u62df\u3001\u9a7e\u9a76\u6a21\u62df\u7b49\u3002<\/p>\n\n\n\n<p>2.4 OpenSCENARIO\uff08OSC\uff09<\/p>\n\n\n\n<p>2.4.1 OpenSCENARIO\u4ecb\u7ecd<\/p>\n\n\n\n<p>OSC\u573a\u666f\u7b80\u5355\u63cf\u8ff0\u5c31\u662f\uff1a\u8c01\u4ec0\u4e48\u65f6\u5019\u5728\u54ea\u513f\u5e72\u4ec0\u4e48\u3002\u5728\u63cf\u8ff0\u7684\u8fc7\u7a0b\u4e2d\u8fd8\u6d89\u53ca\u975e\u5e38\u5177\u4f53\u7684\u5206\u5c42\u7ed3\u6784\uff0c\u6bd4\u5982\uff0c\u5728\u5b8c\u6574\u7684\u573a\u666f\u63cf\u8ff0\u4e2d\uff0c\u4ece\u6545\u4e8b\u3001\u5e55\u3001\u52a8\u4f5c\u7ec4\u5408\u3001\u52a8\u4f5c\u3001\u4e8b\u4ef6\uff0c\u518d\u5230\u76f8\u5e94\u884c\u52a8\u7684\u89e6\u53d1\u548c\u6267\u884c\u3002<\/p>\n\n\n\n<p>OSC\u5b9a\u4e49\u4e86\u4e00\u4e2a\u6807\u51c6\u7684\u4eff\u771f\u6d4b\u8bd5\u7528\u4f8b\u683c\u5f0f\uff0c\u517c\u5bb9\u4e0d\u540c\u7684\u4eff\u771f\u6d4b\u8bd5\u8f6f\u4ef6\u3002<\/p>\n\n\n\n<p>\u63cf\u8ff0\u5143\u7d20\uff08Description elements\uff09\uff1a<\/p>\n\n\n\n<p>\u52a8\u4f5c\uff08Maneuver\uff09\uff1a\u6d89\u53ca\u591a\u8f86\u8f66\u7684\u590d\u6742\u673a\u52a8\u63cf\u8ff0(complex maneuverdescriptions that involve multiple cars)<\/p>\n\n\n\n<p>\u8f68\u8ff9\uff08Trajectory\uff09\uff1a\u591a\u6bb5\u7ebf\u3001\u56de\u65cb\u7ebf(polyline, clothoid)<\/p>\n\n\n\n<p>\u8f66\u8f86\uff08Vehicle\uff09\uff1a\u51e0\u4f55\u3001\u7c7b\u578b\u3001\u8f74\u3001\u6027\u80fd(geometry, type, axes,performance)<\/p>\n\n\n\n<p>\u9a7e\u9a76\u5458\uff08Driver\uff09\uff1a\u72b6\u6001 (appearance)<\/p>\n\n\n\n<p>\u73af\u5883\uff08Environment\uff09\uff1a\u5929\u6c14\u3001\u65f6\u95f4\u3001\u8def\u51b5 (weather, time of day,road condition)<\/p>\n\n\n\n<p>2.4.2 OpenSCENARIO 1.0&nbsp;\u4e3b\u8981\u8bbe\u8ba1\u6a21\u5f0f\u5f62\u5f0f<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"276\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-10.png\" alt=\"\" class=\"wp-image-16492\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-10.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-10-300x149.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/figure>\n\n\n\n<p>2.4.3 OSC2.0\u7248\u672c\u7684\u53d1\u5e03<\/p>\n\n\n\n<p>OSC2.0\u6807\u51c6\uff1a\u4e3a\u4e86\u6ee1\u8db3\u66f4\u591a\u7528\u6237\u9700\u6c42\uff0c\u9700\u5f00\u53d1\u4e00\u79cd\u9ad8\u7ea7\u522b\u573a\u666f\u63cf\u8ff0\u7684\u6307\u5b9a\u9886\u57df\u8bed\u8a00(DomainSpecific Language)\uff0c\u6db5\u76d6\u7f16\u7a0b\u8bed\u8a00\u5185\u5bb9\uff0c\u4ee5\u53ca\u76f8\u5e94\u573a\u666f\u7684\u751f\u6210\u6761\u4ef6\u4e0e\u573a\u666f\u5185\u5bb9\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>2.0\u573a\u666f\u5185\u5bb9\u5305\u62ec\uff1a<\/p>\n\n\n\n<p>\uff081\uff09\u4e3a\u5f00\u53d1\u8005\uff0c\u5f62\u6210\u4e00\u5957\u53ef\u901a\u7528\u3001\u53ef\u5171\u4eab\u7684\u573a\u666f\u63cf\u8ff0\u65b9\u5f0f\u53ca\u751f\u6210\u6d41\u7a0b\uff1b\u4f7f\u8ba4\u8bc1\u673a\u6784\u53ef\u4ee5\u68c0\u9a8c\u5f00\u53d1\u6d41\u7a0b\u4e0e\u6d4b\u8bd5\u7ed3\u679c\uff1b<\/p>\n\n\n\n<p>\uff082\uff09\u4e3a\u5de5\u5177\u63d0\u4f9b\u5546\uff0c\u63d0\u4f9b\u66f4\u597d\u7684\u517c\u5bb9\u6027\uff0c\u4f7f\u4eff\u771f\u6d4b\u8bd5\u7528\u4f8b\u53ef\u4ee5\u901a\u7528\uff1b<\/p>\n\n\n\n<p>\uff083\uff09\u4e3a\u573a\u666f\u751f\u6210\u8005\uff0c\u63d0\u4f9b\u903b\u8f91\u573a\u666f\u7684\u901a\u7528\u63cf\u8ff0\u65b9\u5f0f\uff1b<\/p>\n\n\n\n<p>\uff084\uff09\u9002\u914d\u529f\u80fd\u5b89\u5168\u573a\u666f\u751f\u6210\u6d41\u7a0b\uff0c\u63d0\u4f9b\u5de5\u7a0b\u6846\u67b6\uff1b<\/p>\n\n\n\n<p>\uff085\uff09\u4e3a\u6df1\u5ea6\u5b66\u4e60\u63d0\u4f9b\u4e00\u5957\u7aef\u5230\u7aef\u573a\u666f\u6d4b\u8bd5\u6570\u636e\u683c\u5f0f\uff1b<\/p>\n\n\n\n<p>\uff086\uff09\u63d0\u4f9b\u4ea4\u901a\u6d41\u63cf\u8ff0\u65b9\u5f0f\u6a21\u578b\uff0c\u4e3a\u81ea\u52a8\u5316\u6d4b\u8bd5\u63d0\u4f9b\u652f\u6301\uff0c\u53ef\u8f6c\u5316\u4e3a\u573a\u5730\/\u9053\u8def\u6d4b\u8bd5\u573a\u666f\u3002<\/p>\n\n\n\n<p>2.5 OSI (Open Simulation Interface)<\/p>\n\n\n\n<p>2.5.1 OSI\u7b80\u4ecb<\/p>\n\n\n\n<p>OSI\u5b9a\u4e49\u4e86\u4e00\u4e2a\u901a\u7528\u7684\u63a5\u53e3\uff0c\u7528\u6765\u8fde\u63a5\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u7684\u5f00\u53d1\u548c\u5404\u79cd\u9a7e\u9a76\u6a21\u62df\u6846\u67b6\uff0c\u4ee5\u5b9e\u73b0\u517c\u5bb9\u6027\u3002\u5e0c\u671b\u80fd\u591f\u4f7f\u4efb\u4f55\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u4e0e\u4efb\u4f55\u4eff\u771f\u5de5\u5177\u8fde\u63a5\uff0c\u540c\u65f6\u80fd\u591f\u96c6\u6210\u5404\u79cd\u4f20\u611f\u5668\u6a21\u578b\u3002<\/p>\n\n\n\n<p>OSI\u7531\u4e24\u90e8\u5206\u72ec\u7acb\u7684\u76ee\u6807\u4fe1\u606f\u63a5\u53e3\u7ec4\u6210\uff0c\u5373\u771f\u503c\u548c\u4f20\u611f\u5668\u6570\u636e\uff1b\u652f\u6301\u7edf\u8ba1\u548c\u7269\u7406\u4f20\u611f\u5668\u6a21\u578b\u4e24\u79cd\u4f20\u611f\u5668\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u4e0d\u8fc7\uff0c\u76ee\u524dOSI\u7684\u7814\u7a76\u5185\u5bb9\u5e76\u4e0d\u80fd\u591f\u5b8c\u5168\u6ee1\u8db3\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u6d4b\u8bd5\u7684\u9700\u6c42\uff0c\u800c\u662f\u9700\u8981\u4e00\u4e2a\u66f4\u52a0\u5b8c\u6574\u7684\u4f53\u7cfb\uff0c\u56e0\u6b64\uff0cOSI\u5c06\u4f1a\u4ece\u5c4b\u91cc\u4f20\u611f\u5668\u4eff\u771f\u3001\u5de5\u5177\u5f00\u53d1\u652f\u6491\u3001\u4ea4\u901a\u6d41\u4fe1\u606f\u3001\u5176\u4ed6Open\u6807\u51c6\u5173\u8054\u8fdb\u884c\u62d3\u5c55\u3002<\/p>\n\n\n\n<p>2.6 OpenLABEL<\/p>\n\n\n\n<p>OpenLABEL&nbsp;\u6982\u5ff5\u9879\u76ee\u63d0\u51fa\u4e86\u4e00\u4e2a\u5173\u4e8e\u6807\u7b7e\u7684\u6807\u51c6\u63d0\u8bae\uff0c\u8fd9\u4e2a\u6807\u51c6\u5c06\u5305\u62ec\u6807\u7b7e\u65b9\u6cd5\uff0c\u6807\u7b7e\u7ed3\u6784\u3001\u6587\u4ef6\u683c\u5f0f\u7b49\u5185\u5bb9\uff0c\u65e8\u5728\u89e3\u51b3\u4e0d\u540c\u5382\u5546\u4e4b\u95f4\u6570\u636e\u65e0\u6cd5\u4e92\u901a\u7684\u75db\u70b9\u3002\u4e0d\u8fc7\uff0c\u8fd9\u4e00\u9879\u76ee2019\u5e74\u5e74\u5e95\u624d\u5f00\u59cb\u63a8\u52a8\uff0c\u76ee\u524d\u6b63\u5904\u4e8e\u63a8\u5e7f\u9636\u6bb5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-11-1024x576.png\" alt=\"\" class=\"wp-image-16493\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-11-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-11-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-11-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-11.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-12-1024x576.png\" alt=\"\" class=\"wp-image-16494\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-12-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-12-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-12-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-12.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-13-1024x576.png\" alt=\"\" class=\"wp-image-16495\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-13-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-13-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-13-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-13.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-14-1024x576.png\" alt=\"\" class=\"wp-image-16496\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-14-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-14-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-14-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-14.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-15-1024x576.png\" alt=\"\" class=\"wp-image-16497\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-15-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-15-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-15-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-15.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-16-1024x576.png\" alt=\"\" class=\"wp-image-16498\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-16-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-16-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-16-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-16.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-17-1024x576.png\" alt=\"\" class=\"wp-image-16499\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-17-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-17-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-17-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-17.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-18-1024x576.png\" alt=\"\" class=\"wp-image-16500\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-18-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-18-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-18-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-18.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-19-1024x576.png\" alt=\"\" class=\"wp-image-16501\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-19-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-19-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-19-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-19.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-20-1024x576.png\" alt=\"\" class=\"wp-image-16502\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-20-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-20-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-20-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-20.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-21-1024x576.png\" alt=\"\" class=\"wp-image-16503\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-21-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-21-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-21-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-21.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-22-1024x576.png\" alt=\"\" class=\"wp-image-16504\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-22-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-22-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-22-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-22.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-23-1024x576.png\" alt=\"\" class=\"wp-image-16505\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-23-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-23-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-23-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-23.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-24-1024x576.png\" alt=\"\" class=\"wp-image-16506\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-24-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-24-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-24-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-24.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-25-1024x576.png\" alt=\"\" class=\"wp-image-16507\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-25-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-25-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-25-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-25.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-26-1024x576.png\" alt=\"\" class=\"wp-image-16508\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-26-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-26-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-26-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-26.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-27-1024x576.png\" alt=\"\" class=\"wp-image-16509\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-27-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-27-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-27-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-27.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-28-1024x576.png\" alt=\"\" class=\"wp-image-16510\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-28-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-28-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-28-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-28.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-29-1024x576.png\" alt=\"\" class=\"wp-image-16511\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-29-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-29-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-29-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-29.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-30-1024x576.png\" alt=\"\" class=\"wp-image-16512\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-30-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-30-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-30-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-30.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-31-1024x576.png\" alt=\"\" class=\"wp-image-16513\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-31-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-31-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-31-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-31.png 1080w\" 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=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-33-1024x576.png\" alt=\"\" class=\"wp-image-16515\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-33-1024x576.png 1024w, 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100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-48-1024x576.png\" alt=\"\" class=\"wp-image-16530\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-48-1024x576.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-48-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-48-768x432.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-48.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1.1 \u81ea\u52a8\u9a7e\u9a76\u5b89\u5168\u843d\u5730\u79bb\u4e0d\u5f00\u4eff\u771f\u6d4b\u8bd5 \u5982\u679c\u60f3 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