{"id":209,"date":"2022-12-23T17:55:09","date_gmt":"2022-12-23T09:55:09","guid":{"rendered":"http:\/\/127.0.0.1\/wordpress\/index.php\/2022\/12\/23\/209\/"},"modified":"2022-12-23T18:29:46","modified_gmt":"2022-12-23T10:29:46","slug":"%e4%b8%80%e7%a7%8d%e7%ba%af%e7%94%b5%e5%8a%a8%e6%b1%bd%e8%bd%a6%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%b3%bb%e7%bb%9f%e8%ae%be%e8%ae%a1","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2022\/12\/23\/209\/","title":{"rendered":"\u4e00\u79cd\u7eaf\u7535\u52a8\u6c7d\u8f66\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u8bbe\u8ba1"},"content":{"rendered":"

2022-08-24<\/p>\n

\u201c\u667a\u80fd\u6c7d\u8f66\u751f\u6001\u7fa4”\u52a0\u5fae\u4fe1Time-machine-\uff08\u5907\u6ce8\u516c\u53f8+\u59d3\u540d\uff09 <\/p>\n

\u00a0
\n1 \u524d\u8a00 <\/p>\n

\u968f\u7740\u65b0\u4e00\u4ee3\u4fe1\u606f\u6280\u672f\u7684\u53d1\u5c55\uff0c\u6c7d\u8f66\u7684\u667a\u80fd\u5316\u3001\u7f51\u8054\u5316\u3001\u7535\u52a8\u5316\u548c\u5171\u4eab\u5316\u6210\u4e3a\u65b0\u7684\u53d1\u5c55\u8d8b\u52bf\uff0c\u65e0\u4eba\u9a7e\u9a76\u6280\u672f\u4e5f\u9010\u6e10\u7531\u6982\u5ff5\u53d8\u4e3a\u73b0\u5b9e\u7684\u751f\u6d3b\u3002 <\/p>\n

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\u672c\u6587\u5185\u5bb9\u4e3a\u4e00\u79cd\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u53ca\u5176\u5f00\u53d1\u5b9e\u73b0\u6d41\u7a0b\u548c\u65b9\u6cd5\uff0c\u7cfb\u7edf\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u91c7\u7528\u65b0\u578b\u7814\u7a76\u6210\u679c\uff0c\u964d\u4f4e\u7cfb\u7edf\u590d\u6742\u5ea6\uff0c\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5f00\u53d1\u6548\u7387\uff0c\u51cf\u5c11\u7cfb\u7edf\u5f00\u53d1\u6210\u672c\u3002 <\/p>\n

2 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6280\u672f\u65b9\u6848 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6280\u672f\u65b9\u6848\u5305\u62ec\u786c\u4ef6\u65b9\u6848\u548c\u8f6f\u4ef6\u65b9\u6848\uff0c\u5982\u88681\u6240\u793a\u3002 <\/p>\n

\u88681 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6280\u672f\u65b9\u6848 <\/p>\n

2.1 \u786c\u4ef6\u65b9\u6848 <\/p>\n

\u7cfb\u7edf\u57fa\u4e8e\u5317\u6c7dEU5\u8f66\u578b\u642d\u5efa\u4e86\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5e73\u53f0\uff0c\u5c06\u8f66\u8f86\u5e73\u53f0\u6309\u7167\u81ea\u52a8\u9a7e\u9a76\u7684\u9700\u6c42\u8fdb\u884c\u6539\u9020\u3002\u8f66\u8f86\u5e73\u53f0\u91c7\u7528\u7eaf\u7535\u52a8\u6c7d\u8f66\uff0c\u5185\u90e8\u90fd\u662f\u7535\u63a7\u7cfb\u7edf\uff0c\u4f7f\u7528\u6570\u5b57\u5316\u7684\u6570\u636e\uff0c\u5229\u4e8e\u81ea\u52a8\u63a7\u5236\uff0c\u8f66\u8f86\u6539\u5236\u5de5\u4f5c\u91cf\u548c\u96be\u5ea6\u8f83\u5c0f\uff0c\u53ea\u9700\u5c06\u5185\u90e8\u6570\u636e\u8fdb\u884c\u6574\u5408\uff0c\u5f00\u53d1\u6570\u636e\u901a\u8baf\u534f\u8bae\uff0c\u4e14\u8f66\u8f86\u6267\u884c\u673a\u6784\u54cd\u5e94\u5feb\uff0c\u8f66\u8f86\u63a7\u5236\u66f4\u52a0\u5e73\u987a\uff0c\u56e0\u6b64\uff0c\u9009\u7528\u7eaf\u7535\u52a8\u6c7d\u8f66\u66f4\u5229\u4e8e\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u3002 <\/p>\n

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\u56fe1 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u786c\u4ef6\u5e03\u7f6e\u65b9\u6848 <\/p>\n

\u7cfb\u7edf\u4e2d\u6240\u6d89\u53ca\u7684\u786c\u4ef6\u8bbe\u5907\u7c7b\u578b\u3001\u6570\u91cf\u548c\u76f8\u5173\u8bf4\u660e\u5982\u88682\u6240\u793a\u3002 <\/p>\n

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\uff081\uff09\u9ad8\u8ba1\u7b97\u6027\u80fd <\/p>\n

\u91c7\u7528\u53cc\u82af\u7247\uff0c\u4e00\u4e2a\u8ba1\u7b97\u82af\u7247\uff0c\u4e00\u4e2a\u63a7\u5236\u82af\u7247\uff0c\u611f\u77e5\u4fe1\u606f\u8ba1\u7b97\u91c7\u7528\u9ad8\u7b97\u529b\u7684\u8ba1\u7b97\u82af\u7247\uff0c\u8f66\u8f86\u63a7\u5236\u4fe1\u53f7\u5904\u7406\u91c7\u7528Infineon TC387\u82af\u7247\uff0c\u591a\u6838\u67b6\u6784\u3002 <\/p>\n

\uff082\uff09\u4e30\u5bcc\u63a5\u53e3 <\/p>\n

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\uff083\uff09\u8f66\u89c4\u7ea7\u7cfb\u7edf\u8bbe\u8ba1 <\/p>\n

\u652f\u6301\u7edf\u4e00\u7684\u5e94\u7528\u5c42\u4ea4\u4e92\u534f\u8bae\u4e0b\uff0c\u5d4c\u5165\u5ba2\u6237\u81ea\u4e3b\u5f00\u53d1\u5e94\u7528\u5c42\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u6a21\u5757\uff1b
\n\u8f66\u89c4\u7ea7\u5668\u4ef6\u548c\u63a5\u53e3\uff0c\u6ee1\u8db3\u6574\u8f66\u7535\u5668\u3001EMC\u3001\u6750\u6599\u3001\u8010\u4e45\u7b49\u8981\u6c42\uff1b\u4f4e\u8fd0\u884c\u529f\u8017\uff08\u5178\u578b\u8fd0\u884c\u529f\u738730 W\uff09\uff0c9~30 V\u5de5\u4f5c\u7535\u538b\uff0c\u652f\u6301\u98ce\u51b7\u6563\u70ed\u3002 <\/p>\n

\uff084\uff09\u9ad8\u5b89\u5168\u4fdd\u8bc1\uff1a <\/p>\n

\u652f\u6301\u9ad8\u81f3ASIL-C\uff08ISO 26262[2]\uff09\u7684\u5b89\u5168\u8981\u6c42\uff1b <\/p>\n

\u652f\u6301\u8bbf\u95ee\u8bb8\u53ef\u6388\u6743\u3001\u4f20\u8f93\u6570\u636e\u52a0\u5bc6\u3001\u786c\u4ef6\u5b89\u5168\u6a21\u5757\u8c03\u7528\u7b49\u7cfb\u7edf\u548c\u7f51\u7edc\u5b89\u5168\u529f\u80fd\uff1b
\n\u5173\u952e\u4e8b\u4ef6\u6570\u636e\u81ea\u52a8\u8bc6\u522b\u3001\u91c7\u96c6\u5e76\u5bc4\u5b58\u3002 <\/p>\n

\u88682 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u786c\u4ef6\u8bbe\u5907\u4fe1\u606f <\/p>\n

2.2 \u8f6f\u4ef6\u65b9\u6848 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u90e8\u7f72\u5728\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u4e2d\uff0c\u57fa\u4e8eUbuntu\u7cfb\u7edf\u4e0b\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08Robot Operating System\uff0cROS\uff09\u5e73\u53f0\u5f00\u53d1\uff0c\u8f6f\u4ef6\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002 <\/p>\n

\u56fe2 \u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u67b6\u6784 <\/p>\n

\u8f6f\u4ef6\u529f\u80fd\u6a21\u5757\u4e3b\u8981\u75314\u90e8\u5206\u7ec4\u6210\uff1a\u73af\u5883\u611f\u77e5\u3001\u8f66\u8f86\u5b9a\u4f4d\u3001\u51b3\u7b56\u89c4\u5212\u548c\u8f66\u8f86\u63a7\u5236\u3002\u5176\u4e2d\uff0c\u73af\u5883\u611f\u77e5\u6a21\u5757\u5b9e\u73b0\u7cfb\u7edf\u5bf9\u5916\u754c\u73af\u5883\u4fe1\u606f\u7684\u6570\u636e\u83b7\u53d6\u548c\u5206\u6790\u8fa8\u8bc6\uff0c\u901a\u8fc7\u5bf9\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001GPS\u7b49\u4f20\u611f\u5668\u6570\u636e\u8fdb\u884c\u5904\u7406\uff0c\u8ba1\u7b97\u5468\u8fb9\u73af\u5883\u4fe1\u606f\uff1b\u8f66\u8f86\u5b9a\u4f4d\u6a21\u5757\u89e3\u6790\u6fc0\u5149\u96f7\u8fbe\u548cGPS\u4fe1\u53f7\uff0c\u8ba1\u7b97\u5f97\u5230\u8f66\u8f86\u81ea\u8eab\u4f4d\u7f6e\uff1b\u51b3\u7b56\u89c4\u5212\u6a21\u5757\u5229\u7528\u73af\u5883\u611f\u77e5\u4fe1\u606f\uff0c\u8ba1\u7b97\u786e\u5b9a\u8f66\u8f86\u884c\u4e3a\uff0c\u5982\u6b63\u5e38\u884c\u9a76\u3001\u6362\u9053\u3001\u52a0\u51cf\u901f\u7b49\uff0c\u5e76\u8fdb\u4e00\u6b65\u89c4\u5212\u8f66\u8f86\u7684\u76ee\u6807\u884c\u9a76\u8f68\u8ff9\u53ca\u5bf9\u5e94\u884c\u9a76\u901f\u5ea6\u3001\u8f6c\u89d2\u7b49\uff1b\u8f66\u8f86\u63a7\u5236\u6a21\u5757\u5229\u7528\u51b3\u7b56\u89c4\u5212\u5f97\u5230\u7684\u4fe1\u606f\uff0c\u6839\u636e\u52a0\u901f\u3001\u8f6c\u89d2\u53ca\u5236\u52a8\u6307\u4ee4\u63a7\u5236\u6267\u884c\u673a\u6784\u6267\u884c\u54cd\u5e94\u52a8\u4f5c\uff0c\u8fbe\u5230\u81ea\u52a8\u9a7e\u9a76\u7684\u76ee\u7684\u3002 <\/p>\n

\u672c\u6587\u7684\u73af\u5883\u611f\u77e5\u6a21\u5757\u901a\u8fc7\u591a\u4f20\u611f\u5668\u878d\u5408\u7cfb\u7edf[4]\u6765\u5b9e\u73b0\uff0c\u6709\u6548\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u591a\u5143\u6570\u636e\u83b7\u53d6\u8d44\u6e90\uff0c\u6700\u5927\u9650\u5ea6\u5730\u83b7\u53d6\u7a33\u5b9a\u3001\u51c6\u786e\u7684\u969c\u788d\u7269\u548c\u9053\u8def\u4fe1\u606f\u3002 <\/p>\n

3 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f00\u53d1\u7684\u6280\u672f\u8def\u7ebf <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f00\u53d1\u7684\u6280\u672f\u8def\u7ebf\u5982\u56fe3\u6240\u793a\u3002\u7cfb\u7edf\u5728\u65b0\u578b\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u4e0a\u5f00\u53d1\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u67b6\u6784\u548c\u7b56\u7565\u3002\u5728\u6280\u672f\u4e0a\u4ece\u786c\u4ef6\u5e03\u7f6e\u3001\u63a7\u5236\u96c6\u62102\u4e2a\u4e0e\u8f66\u8f86\u76f8\u7ed3\u5408\u7684\u65b9\u9762\u7740\u624b\u8bbe\u8ba1\u5f00\u53d1\u3002\u5728\u786c\u4ef6\u5e03\u7f6e\u65b9\u9762\uff0c\u5206\u6790L3\u3001L4\u7ea7\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u573a\u666f\u548c\u4f20\u611f\u5668\u914d\u7f6e\u65b9\u6848\uff0c\u8bbe\u8ba1\u4f20\u611f\u5668\u9884\u88c5\u4f4d\u7f6e\u548c\u666e\u9002\u6027\u652f\u67b6\uff0c\u786e\u5b9a\u81ea\u52a8\u9a7e\u9a76\u4f20\u611f\u5668\u5e03\u7f6e\u65b9\u6848\uff0c\u5f00\u5c55\u652f\u67b6\u5f00\u53d1\u3001\u4ee5\u53ca\u4f20\u611f\u5668\u548c\u652f\u67b6\u7684\u5b89\u88c5\u5e03\u7f6e\u5de5\u4f5c\uff0c\u540c\u65f6\u6839\u636e\u4f20\u611f\u5668\u3001\u57df\u63a7\u5236\u5668\u7684\u63a5\u53e3\u548c\u4f9b\u7535\u4fe1\u606f\uff0c\u8bbe\u8ba1\u7ebf\u675f\u8fde\u63a5\u65b9\u6848\u548c\u8f85\u52a9\u7535\u6e90\uff1b\u5728\u63a7\u5236\u96c6\u6210\u65b9\u9762\uff0c\u63d0\u51faVCU\u3001\u7ebf\u63a7\u5e95\u76d8\u4ee5\u53ca\u706f\u5149\u7684\u63a7\u5236\u9700\u6c42\uff0c\u8bbe\u8ba1\u81ea\u52a8\u9a7e\u9a76\u63a7\u5236\u529f\u80fd\u5b9a\u4e49\uff0c\u7531\u8f66\u8f86\u5e73\u53f0\u5f00\u53d1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63a7\u5236\u8f66\u8f86\u6240\u9700\u7684\u901a\u8baf\u4fe1\u53f7\uff0c\u4ee5\u53caVCU\u3001\u7ebf\u63a7\u5e95\u76d8\u548c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e4b\u95f4\u7684\u4ea4\u4e92\u3002\u5728\u5b8c\u6210\u786c\u4ef6\u5e03\u7f6e\u548c\u63a7\u5236\u96c6\u6210\u5f00\u53d1\u4e4b\u540e\uff0c\u5f00\u5c55\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6539\u5236\u8bd5\u9a8c\uff0c\u5b8c\u6210\u6574\u8f66\u7684\u6539\u88c5\uff0c\u5e76\u7ed3\u5408\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u548c\u7b97\u6cd5\uff0c\u5f00\u5c55\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u96c6\u6210\u8c03\u8bd5\u5de5\u4f5c\uff0c\u5728\u8c03\u8bd5\u8fc7\u7a0b\u4e2d\u53d1\u73b0\u548c\u6539\u8fdb\u5f00\u6e90\u5e73\u53f0\u57fa\u7840\u5e73\u53f0\u7684\u5efa\u8bbe\u95ee\u9898\uff0c\u8c03\u8bd5\u6210\u529f\u540e\u5f00\u5c55\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u6d4b\u8bd5\u8bd5\u9a8c\uff0c\u5e76\u6700\u7ec8\u5f62\u6210\u7b2c3\u65b9\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u8bd5\u9a8c\u62a5\u544a\u3002 <\/p>\n

\u56fe3 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f00\u53d1\u7684\u6280\u672f\u8def\u7ebf <\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u5b9e\u73b0\u8fc7\u7a0b\u4e2d\u4f1a\u5f62\u6210\u4e00\u4e9b\u5177\u6709\u79d1\u5b66\u4ef7\u503c\u548c\u5e94\u7528\u524d\u666f\u7684\u6280\u672f\u65b9\u6cd5\uff0c\u672c\u6587\u5c55\u793a4\u79cd\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6027\u80fd\u7684\u7814\u7a76\u6210\u679c\u3002 <\/p>\n

3.1 \u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6539\u5236\u65b9\u6cd5\u548c\u666e\u9002\u6027\u9884\u88c5\u7ed3\u6784 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d89\u53ca\u7684\u8f66\u8f86\u6539\u5236\u7a7a\u95f4\u4e3b\u8981\u6709\u524d\u673a\u8231\u3001\u9a7e\u9a76\u8231\u548c\u540e\u5907\u7bb1\u3002 <\/p>\n

\u8f66\u8f86\u6539\u5236\u524d\u8bbe\u8ba1\u5f00\u53d1\u8f85\u52a9\u7535\u6e90\uff0c\u7528\u4e8e\u8fde\u63a5\u76f8\u5173\u7535\u6c14\u8bbe\u5907\uff0c\u5e76\u8bbe\u8ba1\u7ebf\u675f\u7684\u8fde\u63a5\u3002\u540c\u65f6\u51c6\u5907\u6539\u5236\u573a\u5730\uff0c\u786e\u5b9a\u53c2\u4e0e\u6539\u5236\u7684\u76f8\u5173\u4eba\u5458\u3002 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6539\u5236\u5b9e\u65bd\u524d\uff0c\u9700\u8981\u51c6\u5907\u597d\u8f66\u8f86\u3001\u76f8\u5173\u786c\u4ef6\u8bbe\u5907\uff0c\u5f00\u53d1\u597d\u7684\u652f\u67b6\u3001\u6539\u5236\u5de5\u5177\uff08\u9525\u5957\u7b52\u5de5\u5177\u3001\u710a\u63a5\u5de5\u5177\u3001\u6253\u78e8\u5207\u524a\u5de5\u5177\u3001\u6253\u80f6\u5de5\u5177\u7b49\uff09\uff0c\u62c6\u9664\u8f66\u8eab\u96f6\u90e8\u4ef6\u3002\u8f66\u8f86\u6539\u5236\u7684\u6574\u4f53\u601d\u8def\u5982\u4e0b\uff1a <\/p>\n

\uff081\uff09\u8f66\u8f86\u524d\u7aef\u5e03\u7f6e\u8bbe\u5907\u6709\u6beb\u7c73\u6ce2\u96f7\u8fbe\u53ca\u8d85\u58f0\u6ce2\u96f7\u8fbe\uff1b <\/p>\n

\uff082\uff09\u8f66\u9876\u5e03\u7f6e\u8bbe\u5907\u4e3a\u6fc0\u5149\u96f7\u8fbe\u3001GPS\u5929\u7ebf\u53ca\u9ad8\u6e05\u6444\u50cf\u5934\uff1b <\/p>\n

\uff083\uff09\u8f66\u8f86\u540e\u7aef\u5e03\u7f6e\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3001\u8d85\u58f0\u6ce2\u96f7\u8fbe\u3001\u57df\u63a7\u5236\u5668\u3001DC\u8f85\u52a9\u7535\u6e90\u3001\u8def\u7531\u5668\u7b49\uff1b <\/p>\n

\uff084\uff09\u524d\u673a\u8231\u6539\u5236\u7ebf\u675f\u4ece\u8f66\u8f86\u9632\u706b\u5899\u7a7f\u8fc7\u8fdb\u5165\u9a7e\u9a76\u8231\uff0c\u518d\u5230\u540e\u5907\u7bb1\uff1b <\/p>\n

\uff085\uff09\u8f66\u9876\u4f20\u611f\u5668\u7ebf\u675f\u4ece\u8f66\u9876\u94a3\u91d1\u5b54\u7a7f\u8fc7\uff0c\u6309\u5929\u7a97\u6392\u6c34\u7ba1\u5e03\u7f6e\u65b9\u6848\u5f15\u81f3\u540e\u5907\u7bb1\uff1b <\/p>\n

\uff086\uff09\u526f\u4eea\u8868\u677f\u6309\u94ae\u5f00\u5173\u7ebf\u675f\u5f15\u5230\u8f66\u8f86\u5de6\u4fa7\u4e0e\u524d\u673a\u8231\u7ebf\u675f\u4e00\u540c\u5f15\u81f3\u540e\u5907\u7bb1\u3002 <\/p>\n

\u8f66\u8f86\u6539\u5236\u5b9e\u65bd\u8fc7\u7a0b\u6d89\u53ca\u5230\u4f20\u611f\u5668\u548c\u786c\u4ef6\u8bbe\u5907\u7684\u5b89\u88c5\u56fa\u5b9a\uff0c\u7ebf\u675f\u7684\u6539\u5236\u548c\u5e03\u7f6e\u3002\u6700\u7ec8\u5f62\u6210\u4e00\u5957\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6539\u5236\u6d41\u7a0b\u89c4\u8303\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u89c4\u6a21\u5316\u751f\u4ea7\u65f6\u63d0\u9ad8\u6539\u5236\u6548\u7387\u3002 <\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6539\u5236\u4e4b\u524d\uff0c\u8003\u8651\u5230\u4e0d\u540c\u5382\u5546\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6240\u4f7f\u7528\u7684\u4f20\u611f\u5668\u914d\u7f6e\u65b9\u6848\u5404\u4e0d\u76f8\u540c\u3002\u76ee\u524d\u4e3b\u6d41\u81ea\u52a8\u9a7e\u9a76\u65b9\u6848\u63d0\u4f9b\u5546\u7684\u4f20\u611f\u5668\u89e3\u51b3\u65b9\u6848\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u548cGPS\u5929\u7ebf\u5747\u5e03\u7f6e\u5728\u8f66\u9876\u3002\u57fa\u4e8e\u6b64\uff0c\u5728\u7cfb\u7edf\u8bbe\u8ba1\u8fc7\u7a0b\u4e2d\u5f00\u53d1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u666e\u9002\u6027\u652f\u67b6\u65b9\u6848\uff0c\u5982\u56fe4\u6240\u793a\u3002\u5728\u5e38\u7528\u7684\u4e0d\u540c\u4f20\u611f\u5668\u5b89\u88c5\u4f4d\u7f6e\u9884\u7559\u5b89\u88c5\u652f\u67b6\uff0c\u5e76\u4e14\u5f00\u53d1\u8f66\u9876\u666e\u9002\u6027\u652f\u67b6\u603b\u6210\uff0c\u53ef\u4ee5\u6ee1\u8db3\u591a\u79cd\u4f20\u611f\u5668\u914d\u7f6e\u65b9\u6848\u7684\u642d\u8f7d\u3002 <\/p>\n

\u56fe4 \u81ea\u52a8\u9a7e\u9a76\u666e\u9002\u6027\u652f\u67b6 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u666e\u9002\u6027\u652f\u67b6\u7684\u7279\u70b9\u5982\u4e0b\uff1a <\/p>\n

\uff081\uff09\u8f66\u9876\u652f\u67b6\u53ef\u4ee5\u901a\u8fc7\u5b9a\u5236\u8f6c\u63a5\u652f\u67b6\u5b9e\u73b0\u591a\u79cd\u4f20\u611f\u5668\u914d\u7f6e\u65b9\u6848\u7684\u642d\u8f7d\uff1b <\/p>\n

\uff082\uff09\u53ef\u4ee5\u9002\u7528\u591a\u79cd\u7c7b\u578b\u3001\u4e0d\u540c\u5c3a\u5bf8\u3001\u4e0d\u540c\u578b\u53f7\u7684\u4f20\u611f\u5668\u4ea7\u54c1\uff0c\u80fd\u591f\u7075\u6d3b\u8c03\u6574\u5b89\u88c5\u89d2\u5ea6\u3001\u65b9\u5411\u548c\u6570\u91cf\uff0c\u8282\u7ea6\u81ea\u52a8\u9a7e\u9a76\u4f20\u611f\u5668\u7684\u5b89\u88c5\u6210\u672c\u3002 <\/p>\n

\u7ecf\u8fc7\u8f66\u8f86\u6539\u5236\u7684\u9a8c\u8bc1\uff0c\u5728\u8be5\u666e\u9002\u6027\u652f\u67b6\u4e0a\u53ef\u4ee5\u65b9\u4fbf\u5730\u589e\u52a0\u548c\u51cf\u5c11\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u4f20\u611f\u5668\u3002 <\/p>\n

3.2 \u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u4f20\u611f\u5668\u7684\u81ea\u52a8\u5316\u6807\u5b9a <\/p>\n

\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u4f20\u611f\u5668\u6807\u5b9a\u65b9\u6cd5\u9700\u8981\u5927\u91cf\u4eba\u5de5\u64cd\u4f5c\uff0c\u5f71\u54cd\u6807\u5b9a\u6548\u7387\u548c\u6807\u5b9a\u7cbe\u5ea6\uff0c\u4f20\u611f\u5668\u7684\u6d4b\u91cf\u7cbe\u5ea6\u4f1a\u7ed9\u5916\u53c2\u6807\u5b9a\u5e26\u6765\u989d\u5916\u7684\u8bef\u5dee\u3002\u672c\u6587\u91c7\u7528\u4e00\u79cd\u81ea\u52a8\u6807\u5b9a\u7684\u65b9\u6cd5\u5bf9\u611f\u77e5\u4f20\u611f\u5668\u8fdb\u884c\u6807\u5b9a\uff0c\u5728\u4f20\u611f\u5668\u5e03\u7f6e\u5b89\u88c5\u4e4b\u540e\uff0c\u501f\u52a9\u81ea\u7136\u6807\u5b9a\u573a\u5730\u548c\u6807\u5b9a\u5de5\u5177\uff0c\u901a\u8fc7\u5bf9\u4f20\u611f\u5668\u63a5\u6536\u7684\u6570\u636e\u4e2d\u7684\u5178\u578b\u7279\u5f81\u8fdb\u884c\u5904\u7406\u5206\u6790\uff0c\u5c06\u5404\u4e2a\u4f20\u611f\u5668\u7684\u5750\u6807\u7cfb\u7edf\u4e00\u5230\u8f66\u8f86\u5750\u6807\u7cfb\u4e0b\uff0c\u5305\u62ec\u591a\u4e2a\u6fc0\u5149\u96f7\u8fbe\u7684\u6807\u5b9a\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u7684\u8054\u5408\u6807\u5b9a\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\u3001\u8d85\u58f0\u6ce2\u96f7\u8fbe\u6807\u5b9a\uff0c\u6807\u5b9a\u6d41\u7a0b\u5982\u56fe5\u6240\u793a\u3002 <\/p>\n

\u56fe5 \u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u4f20\u611f\u5668\u6807\u5b9a\u6d41\u7a0b <\/p>\n

\u4f20\u611f\u5668\u6807\u5b9a\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a <\/p>\n

\uff081\uff09\u8f66\u987632\u7ebf\u6fc0\u5149\u96f7\u8fbe\u6807\u5b9a\uff1a\u5efa\u7acb\u8f66\u4f53\u5750\u6807\u7cfb\uff0c\u501f\u52a9\u5706\u9525\u4f53\u5f62\u6807\u5b9a\u7269\uff0c\u8ba1\u7b97\u504f\u79fb\u91cf\u0394x\u3001\u0394y\u3001\u0394z\u4ee5\u53ca\u65cb\u8f6c\u89d2a\uff08\u7ffb\u6eda\u89d2\uff09\u3001b\uff08\u4fef\u4ef0\u89d2\uff09\u3001g\uff08\u504f\u822a\u89d2\uff09\u3002\u9996\u5148\u6839\u636e\u8f66\u8f86\u53c2\u6570\u8ba1\u7b97\u0394x\u3001\u0394y\uff0c\u518d\u5efa\u7acb\u5e73\u6574\u5730\u9762\u7684\u5e73\u9762\u65b9\u7a0b\uff0c\u57fa\u4e8e\u975e\u7ebf\u6027\u4f18\u5316\u65b9\u6cd5\uff0c\u6c42\u89e3a\u3001b\u6700\u4f18\u503c\uff0c\u7136\u540e\u6839\u636e\u6700\u7ec8\u62df\u5408\u7684\u5730\u9762\u5e73\u9762\u65b9\u7a0b\uff0c\u8ba1\u7b97Z\u8f74\u65b9\u5411\u7684\u504f\u79fb\u91cf\u0394z\uff0c\u6700\u540e\u7ed3\u5408\u70b9\u4e91\u76ee\u6807\u7269\u8bc6\u522b\u7ed3\u679c\uff0c\u91c7\u7528\u4f18\u5316\u7b97\u6cd5\u6c42\u89e3\u6700\u4f18g\u503c\u3002 <\/p>\n

\uff082\uff092\u4e2a16\u7ebf\u6fc0\u5149\u96f7\u8fbe\u6807\u5b9a\uff1a\u9996\u5148\uff0c\u91c7\u7528\u548c32\u7ebf\u6fc0\u5149\u96f7\u8fbe\u76f8\u540c\u7684\u65b9\u6cd5\uff0c\u8ba1\u7b97\u0394x\u3001\u0394y\u3001a\u3001b\u3001\u0394z\uff0c\u7136\u540e\uff0c\u4ee532\u7ebf\u6fc0\u5149\u70b9\u4e91\u8bc6\u522b\u7ed3\u679c\u4e3a\u57fa\u51c6\uff0c\u91c7\u7528\u4f18\u5316\u7b97\u6cd5\u6c42\u89e3\u6700\u4f18g\u503c\uff0c\u786e\u4fdd32\u7ebf\u6fc0\u5149\u96f7\u8fbe\u548c16\u7ebf\u6fc0\u5149\u96f7\u8fbe\u8bc6\u522b\u7684\u76ee\u6807\u91cd\u5408\u3002 <\/p>\n

\uff083\uff09\u6444\u50cf\u5934\u6807\u5b9a\uff1a\u5305\u62ec\u5185\u53c2\u6807\u5b9a\u548c\u5916\u53c2\u6807\u5b9a\u3002\u5185\u53c2\u6807\u5b9a\u91c7\u7528\u5f20\u53cb\u6807\u5b9a\u6cd5\uff1b\u5916\u53c2\u6807\u5b9a\u91c7\u7528\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u8054\u5408\u6807\u5b9a\u7684\u65b9\u6cd5\uff0c\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u6807\u5b9a\u7ed3\u679c\uff0c\u501f\u52a9\u6807\u5b9a\u677f\uff08\u68cb\u76d8\u683c\u3001\u56db\u5b54\u677f\uff09\uff0c\u6839\u636e\u6fc0\u5149\u70b9\u4e91\u548c\u56fe\u50cf\u6570\u636e\u4e2d\u7684\u7279\u5f81\u5339\u914d\u5173\u7cfb\uff0c\u6c42\u89e3\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u76f8\u5bf9\u4f4d\u59ff\uff0c\u786e\u5b9a\u6444\u50cf\u5934\u5750\u6807\u7cfb\u76f8\u5bf9\u4e8e\u8f66\u8f86\u5750\u6807\u7cfb\u7684\u4f4d\u59ff\u53d8\u6362\u5173\u7cfb\u3002 <\/p>\n

\uff084\uff09\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\uff1a\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5b89\u88c5\u65f6\u5bf9\u7ffb\u6eda\u89d2\u3001\u4fef\u4ef0\u89d2\u548c\u9ad8\u5ea6\u6709\u8f83\u9ad8\u8981\u6c42\uff0c\u4e0d\u9700\u8981\u6807\u5b9a\u8fd93\u4e2a\u53c2\u6570\uff0cx\u548cy\u65b9\u5411\u7684\u4f4d\u7f6e\u504f\u79fb\u91cf\u76f4\u63a5\u901a\u8fc7\u8f66\u8f86\u7ed3\u6784\u63a8\u7b97\uff0c\u4e3b\u8981\u501f\u52a9\u6beb\u7c73\u6ce2\u53cd\u5c04\u5668\uff0c\u4ee5\u4ece\u6fc0\u5149\u70b9\u4e91\u68c0\u6d4b\u5230\u53cd\u5c04\u5668\u7684\u4f4d\u7f6e\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u68c0\u6d4b\u5230\u7684\u4f4d\u7f6e\u91cd\u53e0\u4e3a\u76ee\u6807\uff0c\u91c7\u7528\u4f18\u5316\u65b9\u6cd5\u6c42\u89e3\u6700\u4f18\u7684\u504f\u822a\u89d2g\u3002 <\/p>\n

\uff085\uff09\u8d85\u58f0\u6ce2\u96f7\u8fbe\u6807\u5b9a\uff1a\u9996\u5148\u8bbe\u7f6e\u8d85\u58f0\u6ce2\u63a2\u5934\u7684\u521d\u59cb\u4f4d\u7f6e\uff0c\u518d\u79fb\u52a8\u8d85\u58f0\u6ce2\u96f7\u8fbe\u63a2\u6d4b\u76ee\u6807\uff0c\u6bd4\u8f83\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u548c\u8d85\u58f0\u6ce2\u96f7\u8fbe\u63a2\u6d4b\u7684\u76ee\u6807\u4f4d\u7f6e\u5dee\u5f02\uff0c\u4f18\u5316\u8c03\u6574\u521d\u59cb\u4f4d\u7f6e\u5750\u6807\u3002 <\/p>\n

\u81ea\u52a8\u5316\u6807\u5b9a\u65b9\u6cd5\u907f\u514d\u4e86\u4f20\u7edf\u611f\u77e5\u4f20\u611f\u5668\u6807\u5b9a\u7684\u590d\u6742\u3001\u7e41\u7410\u7684\u5b9e\u65bd\u8fc7\u7a0b\uff0c\u51cf\u5c11\u4e86\u5927\u91cf\u4eba\u5de5\u64cd\u4f5c\uff0c\u63d0\u9ad8\u4e86\u6807\u5b9a\u6548\u7387\u548c\u6807\u5b9a\u7cbe\u5ea6\u3002 <\/p>\n

3.3 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u611f\u77e5\u878d\u5408\u65b9\u6cd5 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u6280\u672f\u901a\u5e38\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7b49\u51e0\u7c7b\u5e38\u7528\u7684\u4f20\u611f\u5668\uff0c\u5404\u7c7b\u4f20\u611f\u5668\u5404\u6709\u4f18\u7f3a\u70b9\uff0c\u5728\u7279\u6027\u4e0a\u90fd\u6709\u6240\u5dee\u5f02\uff0c\u9700\u8981\u91c7\u7528\u591a\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\uff0c\u8ba9\u591a\u79cd\u76f8\u4e92\u8865\u5145\uff0c\u53d1\u6325\u5404\u4f20\u611f\u5668\u7684\u4f18\u70b9\uff0c\u63d0\u5347\u611f\u77e5\u529f\u80fd\u7684\u7cbe\u786e\u6027\u548c\u7a33\u5b9a\u6027\u3002\u57fa\u4e8e\u591a\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\uff0c\u672c\u6587\u8bbe\u8ba1\u4e00\u5957\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u611f\u77e5\u5904\u7406\u6d41\u7a0b\uff0c\u5982\u56fe6\u6240\u793a\uff0c\u5e76\u63d0\u4f9b\u4e00\u79cd\u591a\u4f20\u611f\u5668\u7684\u76ee\u6807\u878d\u5408\u65b9\u6cd5\u3002 <\/p>\n

\u591a\u79cd\u7c7b\u578b\u4f20\u611f\u5668\u6570\u636e\u7ecf\u8fc7\u901a\u8baf\u4f20\u8f93\u5e76\u8fdb\u884c\u534f\u8bae\u89e3\u6790\u3001\u65f6\u95f4\u548c\u7a7a\u95f4\u540c\u6b65\u914d\u51c6\u540e\uff0c\u8fdb\u5165\u76ee\u6807\u68c0\u6d4b\u8bc6\u522b\u529f\u80fd\u6a21\u5757\u3002 <\/p>\n

\u6fc0\u5149\u70b9\u4e91\u6570\u636e\u7ecf\u8fc7\u70b9\u4e91\u5206\u5272\u3001\u70b9\u4e91\u805a\u7c7b\u3001\u969c\u788d\u7269\u70b9\u4e91\u5206\u7c7b\u3001\u5220\u9664\u969c\u788d\u7269\u6805\u683c\u7b49\u5904\u7406\u540e\u8f93\u51fa\u76ee\u6807\u7c7b\u578b\u3001\u76ee\u6807\u4e09\u7ef4\u4f4d\u7f6e\u5750\u6807\uff0c\u5e76\u57fa\u4e8e\u76ee\u6807\u5f62\u72b6\u548c\u4f4d\u7f6e\u5750\u6807\u8ba1\u7b97\u76ee\u6807\u7684\u957f\u5ea6\u548c\u5bbd\u5ea6\u3002 <\/p>\n

\u6444\u50cf\u5934\u76ee\u6807\u68c0\u6d4b\u8bc6\u522b\u529f\u80fd\u6a21\u5757\u91c7\u7528YOLO V3\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u8bc6\u522b\u56fe\u50cf\u6570\u636e\u4e2d\u76ee\u6807\u7684\u7c7b\u578b\u3002YOLO V3\u57fa\u4e8eDarknet-53\u57fa\u7840\u8bc6\u522b\u7f51\u7edc\u3002Darknet-53\u5305\u62ec53\u4e2a\u5377\u79ef\u5c42\u548c\u5927\u91cf\u7684\u6b8b\u5dee\u5c42\uff0c\u6b8b\u5dee\u795e\u7ecf\u7f51\u7edc\u201c\u76f4\u63a5\u8fde\u63a5\u201d\u7684\u65b9\u5f0f\u53ef\u4ee5\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u907f\u514d\u7531\u4e8e\u795e\u7ecf\u7f51\u7edc\u52a0\u6df1\u800c\u5bfc\u81f4\u8bad\u7ec3\u65f6\u4ea7\u751f\u7684\u201c\u68af\u5ea6\u7206\u70b8\u201d\u548c\u201c\u68af\u5ea6\u5f25\u6563\u201d\u73b0\u8c61\uff0c\u4e5f\u4f7f\u5f97\u7f51\u7edc\u7684\u6cdb\u5316\u80fd\u529b\u5927\u5927\u63d0\u5347\u3002\u5b8c\u6210\u76ee\u6807\u8bc6\u522b\u4e4b\u540e\uff0c\u518d\u57fa\u4e8e\u56fe\u50cf\u7279\u5f81\u5339\u914d\uff0c\u4f7f\u7528\u5bf9\u6781\u7ea6\u675f\u6c42\u89e3\u6444\u50cf\u5934\u4f4d\u59ff\uff0c\u5e76\u4f7f\u7528\u4e09\u89d2\u6d4b\u91cf\u8ba1\u7b97\u52a8\u6001\u76ee\u6807\u7684\u8fd0\u52a8\u53d8\u5316\uff0c\u51cf\u53bb\u6444\u50cf\u5934\u7684\u4f4d\u59ff\u6765\u83b7\u53d6\u76ee\u6807\u6700\u7ec8\u7684\u6a2a\u7eb5\u5411\u4f4d\u7f6e\u5750\u6807\u3001\u901f\u5ea6\u3001\u957f\u5ea6\u548c\u5bbd\u5ea6\u3002 <\/p>\n

\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6570\u636e\u7ecf\u8fc7\u6570\u636e\u8f6c\u5316\u3001\u805a\u7c7b\u5904\u7406\u540e\u8f93\u51fa\u76ee\u6807\u7684\u6a2a\u7eb5\u5411\u4f4d\u7f6e\u5750\u6807\u548c\u901f\u5ea6\u4fe1\u606f\u3002 <\/p>\n

\u76ee\u6807\u68c0\u6d4b\u8bc6\u522b\u4e4b\u540e\u5f00\u5c55\u76ee\u6807\u6570\u636e\u7684\u878d\u5408\u8ddf\u8e2a\u5904\u7406\uff0c\u5bf9\u4f20\u611f\u5668\u7684\u68c0\u6d4b\u76ee\u6807\u505a\u5168\u5c40\u5339\u914d\uff0c\u5e76\u4f7f\u7528\u65e0\u8ff9\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\uff0c\u878d\u5408\u6444\u50cf\u5934\u76ee\u6807\u6570\u636e\u3001\u6fc0\u5149\u96f7\u8fbe\u76ee\u6807\u6570\u636e\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u76ee\u6807\u6570\u636e\uff0c\u6700\u540e\u8fdb\u884c\u76ee\u6807\u5339\u914d\u8ddf\u8e2a\u5904\u7406\uff0c\u66f4\u65b0\u672a\u5339\u914d\u7684\u8ddf\u8e2a\u76ee\u6807\u3001\u5220\u9664\u4e22\u5931\u7684\u8ddf\u8e2a\u76ee\u6807\u3001\u521d\u59cb\u5316\u65b0\u76ee\u6807\uff0c\u91cd\u590d\u76ee\u6807\u6570\u636e\u878d\u5408\u5904\u7406\u7684\u6d41\u7a0b\u3002 <\/p>\n

\u56fe6 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u611f\u77e5\u5904\u7406\u6d41\u7a0b <\/p>\n

\u76ee\u6807\u6570\u636e\u878d\u5408\u5904\u7406\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a <\/p>\n

\uff081\uff09\u5efa\u7acb\u7cfb\u7edf\u72b6\u6001\u65b9\u7a0b\u548c\u6d4b\u91cf\u65b9\u7a0b\uff0c\u8bbe\u7f6e\u72b6\u6001\u5411\u91cf\uff0c\u786e\u5b9a\u65e0\u8ff9\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e2dSigma\u70b9\u7684\u9009\u53d6\u7b56\u7565\u3002\u9009\u53d6\u6a2a\u5411\u4f4d\u7f6epx\u3001\u7eb5\u5411\u4f4d\u7f6epy\u3001\u6a2a\u5411\u901f\u5ea6vx\u3001\u7eb5\u5411\u901f\u5ea6vy\u3001\u6a2a\u5411\u52a0\u901f\u5ea6ax\u3001\u7eb5\u5411\u52a0\u901f\u5ea6ax\u3001\u76ee\u6807\u5bbd\u5ea6W\u3001\u76ee\u6807\u957f\u5ea6L\uff0c\u4f5c\u4e3a\u72b6\u6001\u5411\u91cf\uff1aXk=[px,px,vx,vy,ax,ay,W,L]T\u3002\u8bbe\u7f6e\u72b6\u6001\u5411\u91cf\u7684\u521d\u59cb\u5747\u503c\u548c\u65b9\u5dee\uff0c\u5e76\u8ba1\u7b97Sigma\u70b9\uff1b <\/p>\n

\uff082\uff09\u9884\u6d4b\u5404\u4e2aSigma\u70b9\uff0c\u52a0\u6743\u8ba1\u7b97\u72b6\u6001\u91cf\u548c\u534f\u65b9\u5dee\u77e9\u9635\u7684\u9884\u6d4b\u503c\uff1b <\/p>\n

\uff083\uff09\u6bd4\u8f83\u6bcf\u4e2a\u4f20\u611f\u5668\u7684\u68c0\u6d4b\u76ee\u6807\u548c\u5df2\u8ddf\u8e2a\u7684\u76ee\u6807\uff0c\u4f7f\u7528\u5168\u5c40\u6700\u90bb\u8fd1\uff08GNN\uff09\u65b9\u6cd5\u6267\u884c\u5168\u5c40\u5339\u914d\uff1b <\/p>\n

\uff084\uff09\u5bf9\u4e8e\u5df2\u7ecf\u5339\u914d\u548c\u8ddf\u8e2a\u7684\u76ee\u6807\uff0c\u57fa\u4e8e\u5404\u4e2a\u4f20\u611f\u5668\u7684\u89c2\u6d4b\u503c\u8fdb\u884c\u66f4\u65b0\uff1b <\/p>\n

\uff085\uff09\u5220\u9664\u8ddf\u8e2a\u4e22\u5931\u7684\u76ee\u6807\uff1b <\/p>\n

\uff086\uff09\u5c06\u672a\u5339\u914d\u76ee\u6807\u548c\u5df2\u8ddf\u8e2a\u76ee\u6807\u8fdb\u884c\u5339\u914d\uff0c\u8bc6\u522b\u589e\u52a0\u65b0\u7684\u8ddf\u8e2a\u76ee\u6807\uff0c\u91cd\u590d\u76ee\u6807\u6570\u636e\u878d\u5408\u5904\u7406\u7684\u6b65\u9aa4\u3002 <\/p>\n

3.4 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d4b\u8bd5 <\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b9e\u8f66\u6d4b\u8bd5\u8fc7\u7a0b\u5982\u56fe7\u6240\u793a\u3002 <\/p>\n

\u56fe7 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d4b\u8bd5\u8fc7\u7a0b <\/p>\n

\u9996\u5148\uff0c\u5efa\u7acb\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u7ba1\u7406\u89c4\u8303\u3002\u5728\u6267\u884c\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u6d4b\u8bd5\u524d\uff0c\u786e\u5b9a\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u6d41\u7a0b\uff0c\u660e\u786e\u901a\u7528\u6d4b\u8bd5\u8981\u6c42\u3001\u80fd\u529b\u8bc4\u4f30\u5185\u5bb9\u4e0e\u65b9\u6cd5\u7b49\u3002 <\/p>\n

\u7136\u540e\uff0c\u53c2\u7167\u653f\u5e9c\u90e8\u95e8\u51fa\u53f0\u7684\u76f8\u5173\u6d4b\u8bd5\u6280\u672f\u65b9\u6cd5\u3001\u6d4b\u8bd5\u7ba1\u7406\u7ec6\u5219\u3001\u6d4b\u8bd5\u573a\u5730\u8981\u6c42\uff0c\u6267\u884c\u5982\u4e0b\u6d4b\u8bd5\u9879\uff1a\u8ba4\u77e5\u4e0e\u4ea4\u901a\u6cd5\u89c4\u9075\u5b88\u80fd\u529b\uff08\u4e3b\u8981\u662f\u4ea4\u901a\u6807\u7ebf\u8bc6\u522b\uff09\u3001\u6267\u884c\u80fd\u529b\uff08\u5305\u62ec\uff1a\u76f4\u7ebf\u884c\u9a76\u3001\u66f2\u7ebf\u884c\u9a76\u3001\u76f4\u89d2\u8f6c\u5f2f\u884c\u9a76\uff09\u3001\u5e94\u6025\u5904\u7f6e\u4e0e\u4eba\u5de5\u4ecb\u5165\u80fd\u529b\uff08\u5305\u62ec\uff1a\u7d27\u6025\u60c5\u51b5\u5904\u7406\u3001\u4eba\u5de5\u4ecb\u5165\u540e\u7684\u53ef\u64cd\u4f5c\u6027\u3001\u7d27\u6025\u505c\u8f66\uff09\u3001\u7efc\u5408\u9a7e\u9a76\u80fd\u529b\uff08\u5305\u62ec\uff1a\u8d77\u6b65\u505c\u8f66\u3001\u8ddf\u968f\u884c\u9a76\u3001\u53d8\u66f4\u8f66\u9053\u3001\u8def\u53e3\u76f4\u884c\u3001\u8def\u53e3\u8f6c\u5f2f\u3001\u8def\u53e3\u6389\u5934\u3001\u9760\u8fb9\u505c\u8f66\u3001\u7d27\u6025\u5236\u52a8\u3001\u5012\u8f66\u5165\u5e93\uff09\u7b49\uff0c\u8f93\u51fa\u6d4b\u8bd5\u7ed3\u679c\u3002 <\/p>\n

\u53e6\u5916\uff0c\u57fa\u4e8e\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u7684\u7279\u70b9\uff0c\u5728\u7cfb\u7edf\u8bbe\u8ba1\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u521b\u9020\u6027\u5730\u63d0\u51fa\u4e00\u79cd\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u5728\u6574\u8f66\u5e73\u53f0\u4e0a\u7684\u6280\u672f\u8bc4\u4f30\u65b9\u6cd5\uff0c\u4e3b\u8981\u5305\u62ec\uff1a\u57fa\u672c\u786c\u4ef6\u8bc4\u4f30\u3001\u611f\u77e5\u529f\u80fd\u6d4b\u8bd5\u3001\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u65f6\u5ef6\u6d4b\u8bd5\u3001\u6545\u969c\u54cd\u5e94\u673a\u5236\u6d4b\u8bd5\u3001\u7ed3\u6784\u8bbe\u8ba1\u8bc4\u4f30\u3001\u7535\u6c14\u63a5\u53e3\u8bc4\u4f30\u3002 <\/p>\n

4 \u6280\u672f\u9a8c\u8bc1\u60c5\u51b5 <\/p>\n

4.1 \u73af\u5883\u611f\u77e5\u6280\u672f\u9a8c\u8bc1 <\/p>\n

\uff081\uff09\u611f\u77e5\u4f20\u611f\u5668\u6807\u5b9a <\/p>\n

\u5728\u5b9e\u8f66\u4e0a\u5f00\u5c55\u611f\u77e5\u4f20\u611f\u5668\u7684\u6807\u5b9a\uff0c\u6807\u5b9a\u6548\u679c\u5982\u56fe8\u6240\u793a\u3002 <\/p>\n

\u56fe8 \u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u4f20\u611f\u5668\u6807\u5b9a\u6548\u679c <\/p>\n

\u56fe8\uff08a\uff09\u662f32\u7ebf\u6fc0\u5149\u96f7\u8fbeg\u6807\u5b9a\u6548\u679c\uff0c\u6807\u5b9a\u7269\u843d\u5728y=0\u7684\u8f74\u7ebf\u4e0a\uff1b\u56fe8\uff08b\uff09\u662f16\u7ebf\u6fc0\u5149\u96f7\u8fbeg\u6807\u5b9a\u6548\u679c\uff0c\u4ee532\u7ebf\u6fc0\u5149\u96f7\u8fbe\u4e3a\u53c2\u7167\uff0c16\u7ebf\u548c32\u7ebf\u6fc0\u5149\u96f7\u8fbe\u4e2d\u7684\u6807\u5fd7\u7269\u5b8c\u5168\u91cd\u5408\uff0c\u6807\u5b9a\u6548\u679c\u8f83\u597d\uff1b\u56fe8\uff08c\uff09\u4e3a\u6444\u50cf\u5934\u6807\u5b9a\u540e\u5f62\u6210\u7684\u56fe\u50cf\u548c\u70b9\u4e91\u5408\u5e76\u56fe\u50cf\uff0c\u56fe\u50cf\u548c\u70b9\u4e91\u7684\u91cd\u5408\u5ea6\u8f83\u9ad8\uff0c\u6807\u5b9a\u51c6\u786e\uff1b\u5728\u56fe8\uff08d\uff09\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u68c0\u6d4b\u5230\u7684\u6beb\u7c73\u6ce2\u96f7\u8fbe\u53cd\u5c04\u5668\u76ee\u6807\u57fa\u672c\u91cd\u5408\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\u51c6\u786e\u3002 <\/p>\n

\u5c06\u6fc0\u5149\u96f7\u8fbe\u81ea\u52a8\u6807\u5b9a\u548c\u4eba\u5de5\u6807\u5b9a\u7684\u7ed3\u679c\u8fdb\u884c\u6bd4\u8f83\uff0c\u8ba1\u7b97\u6807\u5b9a\u53c2\u6570\u504f\u5dee\uff0c\u5e76\u7edf\u8ba1\u6807\u5b9a\u5904\u7406\u65f6\u95f4\u5982\u88683\u6240\u793a\u3002
\n\u88683 \u6fc0\u5149\u96f7\u8fbe\u6807\u5b9a\u7ed3\u679c\u6bd4\u8f83\u548c\u5904\u7406\u65f6\u95f4\u7edf\u8ba1 <\/p>\n

\u5bf9\u4e8e\u6444\u50cf\u5934\u6807\u5b9a\uff0c\u4ece\u56fe\u50cf\u4e2d\u53d610\u4e2a\u7279\u5f81\u70b9\u4f5c\u4e3a\u68c0\u67e5\u70b9\uff0c\u6839\u636e\u6807\u5b9a\u53c2\u6570\u8ba1\u7b97\u7279\u5f81\u70b9\u5728\u6fc0\u5149\u96f7\u8fbe\u5750\u6807\u7cfb\u4e2d\u7684x\u3001y\u3001z\u5750\u6807\uff0c\u7edf\u8ba1\u8be5\u8ba1\u7b97\u7684\u5750\u6807\u548c\u7279\u5f81\u70b9\u5728\u6fc0\u5149\u70b9\u4e91\u4e2d\u5750\u6807\u4e4b\u95f4\u7684\u8bef\u5dee\uff0c\u8ba1\u7b97\u516c\u5f0f\u5982\u5f0f\uff081\uff09\u6240\u793a\u3002\u4f7f\u7528\u8be5\u8bef\u5dee\u63cf\u8ff0\u6444\u50cf\u5934\u7684\u6807\u5b9a\u7cbe\u5ea6\u3002 <\/p>\n

\u5f0f\u4e2d\uff0cx’i\u3001yi’\u3001z’i\u5206\u522b\u4e3a\u8ba1\u7b97\u51fa\u7684\u7b2ci\u4e2a\u56fe\u50cf\u7279\u5f81\u70b9\u5728\u6fc0\u5149\u96f7\u8fbe\u5750\u6807\u7cfb\u4e2d\u7684\u4e09\u7ef4\u5750\u6807\uff0cxi\u3001yi\u3001zi\u5206\u522b\u4e3a\u7b2ci\u4e2a\u7279\u5f81\u70b9\u5728\u6fc0\u5149\u70b9\u4e91\u4e2d\u7684\u4e09\u7ef4\u5750\u6807\uff0c\u03c3\u4e3a\u8ba1\u7b97\u8bef\u5dee\u3002 <\/p>\n

\u5bf9\u4e8e\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\uff0c\u8ba1\u7b97\u81ea\u52a8\u6807\u5b9a\u548c\u4eba\u5de5\u6807\u5b9a\u7684g\u503c\u504f\u5dee\u3002\u6444\u50cf\u5934\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\u7ed3\u679c\u548c\u6807\u5b9a\u5904\u7406\u65f6\u95f4\u5982\u88684\u6240\u793a\u3002 <\/p>\n

\u88684 \u6444\u50cf\u5934\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\u8bc4\u4ef7\u548c\u5904\u7406\u65f6\u95f4\u7edf\u8ba1 <\/p>\n

\uff082\uff09\u591a\u4f20\u611f\u5668\u7684\u76ee\u6807\u878d\u5408 <\/p>\n

\u4f7f\u7528\u643a\u5e26\u6709\u5dee\u5206GPS\u7684\u8f66\u8f86\u3001\u884c\u4eba\u53ca\u9a91\u8f66\u4eba\u4f5c\u4e3a\u6d4b\u8bd5\u76ee\u6807\uff0c\u8fd0\u884c\u672c\u6587\u7684\u591a\u4f20\u611f\u5668\u76ee\u6807\u878d\u5408\u7a0b\u5e8f\u3002\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e0b\uff0c\u5178\u578b\u76ee\u6807\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u6570\u636e\u5982\u56fe9\u6240\u793a\u3002\u4e0d\u540c\u901f\u5ea6\u4e0b\u7ecf\u8fc7\u878d\u5408\u7684\u76ee\u6807\u4f4d\u7f6e\u548c\u76ee\u6807\u4e0aGPS\u83b7\u53d6\u7684\u5b9e\u9645\u4f4d\u7f6e\u7684\u5e73\u5747\u504f\u5dee\u5982\u88685\u6240\u793a\u3002 <\/p>\n

\u56fe9 \u5178\u578b\u76ee\u6807\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u6570\u636e <\/p>\n

\u88685 \u878d\u5408\u76ee\u6807\u7684\u4f4d\u7f6e\u504f\u5dee\u7edf\u8ba1 <\/p>\n

\u8bbe\u7f6e\u591a\u4e2a\u573a\u666f\uff0c\u5f00\u5c55\u591a\u6b21\u6d4b\u8bd5\uff0c\u7edf\u8ba1\u6240\u6709\u6d4b\u8bd5\u76ee\u6807\u4e2d\u672a\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u6570\uff0c\u8ba1\u7b97\u672a\u68c0\u6d4b\u7684\u76ee\u6807\u6570\u548c\u6240\u6709\u76ee\u6807\u6570\u7684\u6bd4\u4f8b\uff08\u5373\u6f0f\u68c0\u7387\uff09\uff0c\u7ea6\u4e3a1.893%\u3002\u8868\u660e\uff0c\u672c\u6587\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u6548\u679c\u8f83\u597d\u3002 <\/p>\n

4.2 \u7cfb\u7edf\u6d4b\u8bd5\u9a8c\u8bc1 <\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u573a\u5730\u4e2d\u5f00\u5c55\u7cfb\u7edf\u6d4b\u8bd5\uff0c\u591a\u6b21\u6d4b\u8bd5\u4f7f\u7528\u611f\u77e5\u6a21\u5757\u7684\u7cfb\u7edf\u529f\u80fd\uff0c\u8bb0\u5f55\u591a\u6b21\u6d4b\u91cf\u7684\u5e73\u5747\u503c\uff0c\u88686\u5217\u51fa\u4e86\u6d4b\u8bd5\u7ed3\u679c\u3002 <\/p>\n

\u88686 \u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d4b\u8bd5\u7ed3\u679c <\/p>\n

\u7ecf\u8fc7\u5b9e\u8f66\u6d4b\u8bd5\u9a8c\u8bc1\uff0c\u4f7f\u7528\u672c\u6587\u611f\u77e5\u6280\u672f\u7684\u7cfb\u7edf\u529f\u80fd\u5747\u5df2\u8fbe\u6807\uff0c\u8868\u660e\u611f\u77e5\u6a21\u5757\u8fd0\u884c\u826f\u597d\u3002
\n5 \u7ed3\u675f\u8bed\u00a0
\n\u672c\u6587\u7814\u7a76\u4e86\u7eaf\u7535\u52a8\u6c7d\u8f66\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b9e\u73b0\u65b9\u6cd5\uff0c\u63d0\u51fa\u4e00\u79cd\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6280\u672f\u65b9\u6848\uff0c\u7814\u7a76\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5b9e\u73b0\u7684\u6280\u672f\u8def\u7ebf\uff0c\u5e76\u5728\u81ea\u52a8\u9a7e\u9a76\u5b9e\u73b0\u8fc7\u7a0b\u4e2d\u5f62\u6210\u4e00\u4e9b\u5177\u6709\u79d1\u5b66\u4ef7\u503c\u548c\u5e94\u7528\u524d\u666f\u7684\u7814\u7a76\u6210\u679c\uff0c\u4e3b\u8981\u6280\u672f\u6210\u679c\u548c\u521b\u65b0\u70b9\u5982\u4e0b\uff1a <\/p>\n

\uff081\uff09\u5728\u786c\u4ef6\u65b9\u6848\u91c7\u7528\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u4ee3\u66ff\u4f20\u7edf\u7684\u5de5\u63a7\u673a\u548cECU\uff0c\u53ef\u4ee5\u51cf\u5c11\u7ebf\u675f\u8fde\u63a5\u3001\u964d\u4f4e\u6210\u672c\u548c\u5927\u91cf\u4fe1\u606f\u4ea4\u4e92\u5e26\u6765\u7684\u6280\u672f\u74f6\u9888\uff0c\u540e\u7eed\u53ef\u4ee5\u8003\u8651\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u57df\u63a7\u5236\u5668\u7684\u8f66\u89c4\u5316\u63a2\u7d22\uff1b <\/p>\n

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