{"id":24463,"date":"2025-02-06T17:17:00","date_gmt":"2025-02-06T09:17:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24463"},"modified":"2025-02-06T17:17:00","modified_gmt":"2025-02-06T09:17:00","slug":"2025-02-06-%e6%b8%a1%e4%bc%97%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%b0%8f%e8%bd%a6%e8%bf%90%e8%a1%8cautoware-%e5%ae%9e%e7%8e%b0%e6%b8%af%e5%8f%a3%e7%89%a9%e6%b5%81%e8%bf%90","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/06\/24463\/","title":{"rendered":"2025-02-06 \u6e21\u4f17\u673a\u5668\u4eba\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u8fd0\u884cAutoware \u5b9e\u73b0\u6e2f\u53e3\u7269\u6d41\u8fd0\u8f93"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-76.png\" alt=\"\" class=\"wp-image-24464\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-76.png 700w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-76-300x165.png 300w\" sizes=\"(max-width: 700px) 100vw, 700px\" \/><\/figure>\n\n\n\n<p>Autoware \u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u5806\u6808\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u529f\u80fd\u548c\u6a21\u5757\uff0c\u7528\u4e8e\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u611f\u77e5\u3001\u5b9a\u4f4d\u3001\u89c4\u5212\u548c\u63a7\u5236\u7b49\u529f\u80fd\u3002\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u5c06\u591a\u6b3e\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u5728\u591a\u573a\u666f\u8fd0\u884cAutoware \uff0c\u5b83\u53ef\u4ee5\u5b9e\u73b0\u4ee5\u4e0b\u529f\u80fd\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u611f\u77e5\uff1a\u5229\u7528\u4f20\u611f\u5668\u6570\u636e\u5982\u6444\u50cf\u5934\u3001\u96f7\u8fbe\u548c\u6fc0\u5149\u96f7\u8fbe\u7b49\uff0cAutoware \u53ef\u4ee5\u5e2e\u52a9\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5b9e\u73b0\u5bf9\u5468\u56f4\u73af\u5883\u7684\u611f\u77e5\uff0c\u5305\u62ec\u68c0\u6d4b\u969c\u788d\u7269\u3001\u8bc6\u522b\u9053\u8def\u6807\u5fd7\u548c\u8f66\u9053\u7ebf\u7b49\u3002<\/li>\n\n\n\n<li>\u5b9a\u4f4d\uff1a\u901a\u8fc7\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\uff08GPS\uff09\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u7b49\u4f20\u611f\u5668\uff0cAutoware \u80fd\u591f\u5e2e\u52a9\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u51c6\u786e\u5b9a\u4f4d\u548c\u5bfc\u822a\uff0c\u786e\u4fdd\u8f66\u8f86\u5728\u9053\u8def\u4e0a\u51c6\u786e\u884c\u9a76\u3002<\/li>\n\n\n\n<li>\u89c4\u5212\uff1a\u57fa\u4e8e\u611f\u77e5\u548c\u5b9a\u4f4d\u7684\u6570\u636e\uff0cAutoware \u53ef\u4ee5\u8fdb\u884c\u8def\u5f84\u89c4\u5212\uff0c\u5e2e\u52a9\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u89c4\u5212\u6700\u4f73\u884c\u9a76\u8def\u5f84\uff0c\u907f\u5f00\u969c\u788d\u7269\u548c\u9075\u5b88\u4ea4\u901a\u89c4\u5219\u3002<\/li>\n\n\n\n<li>\u63a7\u5236\uff1aAutoware \u8fd8\u5305\u542b\u63a7\u5236\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u8fdb\u884c\u7cbe\u786e\u7684\u8f66\u8f86\u63a7\u5236\uff0c\u5305\u62ec\u52a0\u901f\u3001\u5239\u8f66\u3001\u8f6c\u5411\u7b49\uff0c\u786e\u4fdd\u8f66\u8f86\u5b89\u5168\u3001\u7a33\u5b9a\u5730\u884c\u9a76\u3002<br><\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"575\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-77.png\" alt=\"\" class=\"wp-image-24465\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-77.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-77-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-77-768x511.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u79d1\u6280\u6709\u9650\u516c\u53f8\u7814\u53d1\u7684\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u8fd0\u884cAutoware\u65f6\u6709\u5982\u4e0b\u591a\u7684\u573a\u666f\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n<p><strong>\u8f66\u9053\u9a7e\u9a76\u573a\u666f<\/strong><\/p>\n\n\n\n<p><strong>1. \u542f\u52a8 Autoware<\/strong><\/p>\n\n\n\n<p>source ~\/autoware\/install\/setup.bash<\/p>\n\n\n\n<p>ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME\/autoware_map\/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit<\/p>\n\n\n\n<p><strong>\u8b66\u544a<\/strong><\/p>\n\n\n\n<p>\u8bf7\u6ce8\u610f\uff0c\u6b64\u5904\u60a8\u4e0d\u80fd\u7528 <code>~<\/code>\u4ee3\u66ff <code>$HOME<\/code><code>\u3002<\/code><\/p>\n\n\n\n<p>\u5982\u679c\u4f7f\u7528 <code>~<\/code>\uff0c\u5219\u65e0\u6cd5\u52a0\u8f7d\u5730\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"491\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-78.png\" alt=\"\" class=\"wp-image-24466\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-78.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-78-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-78-768x436.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong>2. \u4e3a\u5f53\u524d\u8f66\u8f86\u8bbe\u7f6e\u521d\u59cb\u4f4d\u59ff<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/planning-simulation\/#2-set-an-initial-pose-for-the-ego-vehicle\">#<\/a><\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"493\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-79.png\" alt=\"\" class=\"wp-image-24467\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-79.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-79-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-79-768x438.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>a\uff09 \u5355\u51fb\u5de5\u5177\u680f\u4e2d<code>2D Pose estimate<\/code>\u7684\u6309\u94ae\uff0c\u6216\u6309 <code>P<\/code>\u952e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"268\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-80.png\" alt=\"\" class=\"wp-image-24468\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-80.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-80-300x93.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-80-768x238.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>b\uff09 \u5728\u201c3D \u89c6\u56fe\u201d\u7a97\u683c\u4e2d\uff0c\u5355\u51fb\u5e76\u6309\u4f4f\u9f20\u6807\u5de6\u952e\uff0c\u7136\u540e\u62d6\u52a8\u4ee5\u8bbe\u7f6e\u521d\u59cb\u4f4d\u59ff\u7684\u65b9\u5411\u3002\u73b0\u5728\u4ee3\u8868\u8f66\u8f86\u7684\u56fe\u50cf\u5e94\u8be5\u80fd\u663e\u793a\u51fa\u6765\u3002<\/p>\n\n\n\n<p><strong>\u8b66\u544a<\/strong><\/p>\n\n\n\n<p>\u8bf7\u8bb0\u4f4f\u5c06\u6c7d\u8f66\u7684\u521d\u59cb\u59ff\u52bf\u8bbe\u7f6e\u4e3a\u4e0e\u8f66\u9053\u76f8\u540c\u7684\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u8981\u786e\u8ba4\u8f66\u9053\u7684\u65b9\u5411\uff0c\u8bf7\u68c0\u67e5\u5730\u56fe\u4e0a\u663e\u793a\u7684\u7bad\u5934\u3002<\/p>\n\n\n\n<p>3.\u4e3a\u5f53\u524d\u8f66\u8f86\u8bbe\u5b9a\u4e00\u4e2a\u76ee\u6807\u4f4d\u7f6e#<\/p>\n\n\n\n<p>a\uff09 \u5355\u51fb\u5de5\u5177\u680f\u4e2d\u7684<code>2D Goal Pose<\/code>\u6309\u94ae\uff0c\u6216\u6309 <code>G<\/code>\u952e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-81.png\" alt=\"\" class=\"wp-image-24469\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-81.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-81-300x102.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-81-768x261.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>b\uff09 \u5728\u201c3D \u89c6\u56fe\u201d\u7a97\u683c\u4e2d\uff0c\u5355\u51fb\u5e76\u6309\u4f4f\u9f20\u6807\u5de6\u952e\uff0c\u7136\u540e\u62d6\u52a8\u4ee5\u8bbe\u7f6e\u76ee\u6807\u4f4d\u59ff\u7684\u65b9\u5411\u3002\u5982\u679c\u64cd\u4f5c\u6b63\u786e\uff0c\u60a8\u5c06\u770b\u5230\u4ece\u521d\u59cb\u4f4d\u59ff\u5230\u76ee\u6807\u4f4d\u59ff\u7684\u8ba1\u5212\u8def\u5f84\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"492\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-82.png\" alt=\"\" class=\"wp-image-24470\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-82.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-82-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-82-768x437.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong>4.\u542f\u52a8\u5f53\u524d\u8f66\u8f86<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/planning-simulation\/#4-start-the-ego-vehicle\">#<\/a><\/strong><\/p>\n\n\n\n<p>\u73b0\u5728\uff0c\u60a8\u53ef\u4ee5\u901a\u8fc7\u5355\u51fb\u5c4f\u5e55\u5de6\u4fa7\u4e0b\u9762 <code>AutowareStatePanel<\/code>\u4e2d <code>OperationMode<\/code>\u83dc\u5355\u680f\u7684 <code>AUTO<\/code>\u6309\u94ae\u6765\u542f\u52a8\u81ea\u6211\u8f66\u8f86\u9a7e\u9a76\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"473\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-83.png\" alt=\"\" class=\"wp-image-24471\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-83.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-83-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-83-768x420.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>\u6216\u8005\uff0c\u60a8\u53ef\u4ee5\u901a\u8fc7\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u624b\u52a8\u542f\u52a8\u8f66\u8f86\uff1a<\/p>\n\n\n\n<p>source ~\/autoware\/install\/setup.bash<\/p>\n\n\n\n<p>ros2 service call \/api\/operation_mode\/change_to_autonomous autoware_adapi_v1_msgs\/srv\/ChangeOperationMode {}<\/p>\n\n\n\n<p>\u4e4b\u540e\uff0c\u60a8\u53ef\u4ee5\u770b\u5230 OperationMode \u83dc\u5355\u680f\u4e0b\u663e\u793a\u4e86\u7eff\u8272\u7684 AUTONOMOUS \u5e76\u4e14 AUTO \u6309\u94ae\u663e\u793a\u4e3a\u7070\u8272\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"493\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-84.png\" alt=\"\" class=\"wp-image-24472\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-84.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-84-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-84-768x438.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong><a>3.3.2.2\u505c\u8f66\u573a\u666f<\/a><\/strong><\/p>\n\n\n\n<p>1.\u8bbe\u7f6e\u521d\u59cb\u4f4d\u7f6e\u548c\u76ee\u6807\u4f4d\u7f6e\uff0c\u5e76\u542f\u52a8\u5f53\u524d\u8f66\u8f86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"539\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-85.png\" alt=\"\" class=\"wp-image-24473\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-85.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-85-300x187.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-85-768x479.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>2.\u5f53\u8f66\u8f86\u63a5\u8fd1\u76ee\u6807\u65f6\uff0c\u5b83\u5c06\u4ece\u8f66\u9053\u884c\u9a76\u6a21\u5f0f\u5207\u6362\u5230\u505c\u8f66\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>3.\u4e4b\u540e\uff0c\u8f66\u8f86\u5c06\u5012\u8f66\u8fdb\u5165\u76ee\u7684\u5730\u505c\u8f66\u4f4d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"349\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-86.png\" alt=\"\" class=\"wp-image-24474\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-86.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-86-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-86-768x310.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong><a>3.3.2.3\u4ece\u8def\u8fb9\u9a76\u51fa\u548c\u9760\u8def\u8fb9\u505c\u8f66\u7684\u573a\u666f<\/a><a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/planning-simulation\/#pull-out-and-pull-over-scenario\">#<\/a><\/strong><\/p>\n\n\n\n<p>1.\u5728\u8def\u8fb9\u9a76\u51fa\u7684\u573a\u666f\u4e2d\uff0c\u5c06\u5f53\u524d\u8f66\u8f86\u8bbe\u7f6e\u5728\u67d0\u4e2a\u8def\u8fb9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"493\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-87.png\" alt=\"\" class=\"wp-image-24475\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-87.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-87-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-87-768x438.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>2.\u8bbe\u5b9a\u4e00\u4e2a\u76ee\u6807\uff0c\u7136\u540e\u542f\u52a8\u5f53\u524d\u8f66\u8f86\u3002<\/p>\n\n\n\n<p>3.\u5728\u9760\u8def\u8fb9\u505c\u8f66\u7684\u573a\u666f\u4e2d\uff0c\u548c\u4ece\u8def\u8fb9\u9a76\u51fa\u573a\u666f\u7c7b\u4f3c\uff0c\u5c06\u5f53\u524d\u8f66\u8f86\u8bbe\u7f6e\u5728\u8f66\u9053\u4e0a\uff0c\u5e76\u5728\u8def\u8fb9\u8bbe\u7f6e\u4e00\u4e2a\u76ee\u7684\u5730\u3002<\/p>\n\n\n\n<p>3.3.2.3\u53d8\u9053\u573a\u666f#<\/p>\n\n\n\n<p>1.\u4e0b\u8f7d\u5e76\u89e3\u538b\u5730\u56fe\u3002<\/p>\n\n\n\n<p>gdown -O ~\/autoware_map\/ &#8216;https:\/\/github.com\/tier4\/AWSIM\/releases\/download\/v1.1.0\/nishishinjuku_autoware_map.zip&#8217;<\/p>\n\n\n\n<p>unzip -d ~\/autoware_map ~\/autoware_map\/nishishinjuku_autoware_map.zip<\/p>\n\n\n\n<p>2.\u4f7f\u7528\u897f\u65b0\u5bbf\u5730\u56fe\u540c\u65f6\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8autoware\uff1a<\/p>\n\n\n\n<p>source ~\/autoware\/install\/setup.bash<\/p>\n\n\n\n<p>ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME\/autoware_map\/nishishinjuku_autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"436\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-88.png\" alt=\"\" class=\"wp-image-24476\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-88.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-88-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-88-768x387.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>3.\u5728\u76f8\u90bb\u8f66\u9053\u4e0a\u8bbe\u7f6e\u4e00\u4e2a\u521d\u59cb\u4f4d\u7f6e\u548c\u4e00\u4e2a\u76ee\u6807\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"588\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-89.png\" alt=\"\" class=\"wp-image-24477\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-89.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-89-300x204.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-89-768x522.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>4.\u542f\u52a8\u5f53\u524d\u8f66\u8f86\u3002\u5b83\u5c06\u6cbf\u7740\u89c4\u5212\u7684\u8def\u5f84\u8fdb\u884c\u53d8\u9053\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"588\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-90.png\" alt=\"\" class=\"wp-image-24478\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-90.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-90-300x204.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-90-768x522.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong><a>3.3.2.5<\/a>\u907f\u969c\u573a\u666f<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/planning-simulation\/#avoidance-scenario\">#<\/a><\/strong><\/h4>\n\n\n\n<p>1.\u5728\u540c\u4e00\u6761\u8f66\u9053\u4e0a\u8bbe\u7f6e\u521d\u59cb\u4f4d\u7f6e\u548c\u76ee\u6807\u4f4d\u7f6e\uff0c\u5c06\u4f1a\u751f\u6210\u4e00\u6761\u8def\u5f84\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"596\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-91.png\" alt=\"\" class=\"wp-image-24479\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-91.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-91-300x207.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-91-768x529.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>2.\u5728\u5f53\u524d\u89c4\u5212\u7684\u8def\u4e0a\u8bbe\u7f6e\u201c2D Dummy Bus \uff082D\u865a\u62df\u5df4\u58eb\uff09\u201d\u5f53\u505a\u969c\u788d\u7269\uff0c\u7cfb\u7edf\u5c06\u89c4\u5212\u4e00\u6761\u65b0\u7684\u9053\u8def\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"596\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-92.png\" alt=\"\" class=\"wp-image-24480\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-92.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-92-300x207.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-92-768x529.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>3.\u542f\u52a8\u5f53\u524d\u8f66\u8f86\u3002\u5b83\u5c06\u6cbf\u7740\u65b0\u89c4\u5212\u7684\u8def\u5f84\u524d\u884c\u4ee5\u907f\u5f00\u969c\u788d\u7269\u3002<\/p>\n\n\n\n<p>\u667a\u80fd\u7f51\u8054\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u8fd0\u884cAutoware \u5b9e\u73b0\u6e2f\u53e3\u7269\u6d41\u662f\u4e00\u4e2a\u975e\u5e38\u5177\u6709\u6f5c\u529b\u7684\u5e94\u7528\u573a\u666f\u3002Autoware \u662f\u4e00\u6b3e\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\uff0c\u53ef\u4ee5\u5e2e\u52a9\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u5bfc\u822a\u3001\u907f\u969c\u3001\u611f\u77e5\u7b49\u529f\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"789\" height=\"489\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-93.png\" alt=\"\" class=\"wp-image-24481\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-93.png 789w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-93-300x186.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-93-768x476.png 768w\" sizes=\"(max-width: 789px) 100vw, 789px\" \/><\/figure>\n\n\n\n<p>\u5728\u6e2f\u53e3\u7269\u6d41\u65b9\u9762\uff0c\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u667a\u80fd\u7f51\u8054\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u53ef\u4ee5\u88ab\u7528\u6765\u5b9e\u73b0\u8d27\u7269\u7684\u81ea\u52a8\u8fd0\u8f93\u548c\u5206\u62e3\uff0c\u63d0\u9ad8\u7269\u6d41\u6548\u7387\u5e76\u964d\u4f4e\u6210\u672c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u901a\u8fc7\u5728\u6e2f\u53e3\u5185\u90e8\u90e8\u7f72\u5317\u4eac\u6e21\u4f17\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4ee5\u4e0b\u529f\u80fd\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u81ea\u52a8\u5316\u642c\u8fd0\uff1a\u5229\u7528\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u4ece\u8d27\u7269\u5806\u573a\u5c06\u8d27\u7269\u8fd0\u9001\u5230\u6307\u5b9a\u4f4d\u7f6e\uff0c\u51cf\u5c11\u4eba\u529b\u6210\u672c\u548c\u63d0\u9ad8\u8fd0\u8f93\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u667a\u80fd\u8c03\u5ea6\uff1a\u57fa\u4e8eAutoware \u7684\u8def\u5f84\u89c4\u5212\u548c\u8c03\u5ea6\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5b9e\u73b0\u591a\u8f86\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u4e4b\u95f4\u7684\u534f\u540c\u5de5\u4f5c\uff0c\u5b9e\u73b0\u8d27\u7269\u7684\u5feb\u901f\u3001\u9ad8\u6548\u8fd0\u8f93\u3002<\/li>\n\n\n\n<li>\u8239\u8236\u914d\u8f7d\uff1a\u901a\u8fc7\u4e0e\u6e2f\u53e3\u4fe1\u606f\u7cfb\u7edf\u96c6\u6210\uff0c\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u53ef\u4ee5\u5b9e\u73b0\u8239\u8236\u8d27\u7269\u7684\u81ea\u52a8\u914d\u8f7d\u548c\u5378\u8f7d\uff0c\u63d0\u9ad8\u4f5c\u4e1a\u6548\u7387\u548c\u5b89\u5168\u6027\u3002<\/li>\n\n\n\n<li>\u5b9e\u65f6\u76d1\u63a7\uff1a\u901a\u8fc7\u642d\u8f7d\u4f20\u611f\u5668\u548c\u6444\u50cf\u5934\uff0c\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u7684\u81ea\u52a8\u9a7e\u9a76\u5c0f\u8f66\u53ef\u4ee5\u5b9e\u65f6\u76d1\u63a7\u8d27\u7269\u72b6\u6001\u548c\u5468\u56f4\u73af\u5883\uff0c\u786e\u4fdd\u8d27\u7269\u5b89\u5168\u8fd0\u8f93\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7efc\u5408\u6765\u770b\uff0c\u5317\u4eac\u6e21\u4f17\u673a\u5668\u4eba\u516c\u53f8\u5c06Autoware 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[&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-24463","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24463"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=24463"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24463\/revisions"}],"predecessor-version":[{"id":24482,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24463\/revisions\/24482"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=24463"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=24463"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=24463"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}