{"id":28750,"date":"2025-05-21T17:35:03","date_gmt":"2025-05-21T09:35:03","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28750"},"modified":"2025-05-21T17:35:03","modified_gmt":"2025-05-21T09:35:03","slug":"2025-05-21-%e9%a1%b6%e5%88%8a%e6%94%b6%e5%bd%95%ef%bd%9cintnet%ef%bc%9a%e5%9f%ba%e4%ba%8e%e9%80%9a%e4%bf%a1%e9%a9%b1%e5%8a%a8%e7%9a%84%e5%a4%9a%e6%99%ba%e8%83%bd%e4%bd%93%e5%bc%ba%e5%8c%96%e5%ad%a6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/21\/28750\/","title":{"rendered":"2025-05-21 \u9876\u520a\u6536\u5f55\uff5cIntNet\uff1a\u57fa\u4e8e\u901a\u4fe1\u9a71\u52a8\u7684\u591a\u667a\u80fd\u4f53\u5f3a\u5316\u5b66\u4e60\u6846\u67b6\uff0c\u663e\u8457\u63d0\u9ad8\u667a\u9a7e\u5b89\u5168\u6027"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1906761340317573978\">https:\/\/zhuanlan.zhihu.com\/p\/1906761340317573978<\/a><\/p>\n\n\n\n<p><strong>\u5bfc\u8bfb<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6b63\u8d70\u5165\u6211\u4eec\u7684\u57ce\u5e02\uff0c\u4f46\u5b83\u4eec\u5982\u4f55\u5728\u590d\u6742\u8def\u51b5\u4e2d\u5b89\u5168\u534f\u8c03\uff1f\u6700\u65b0\u7814\u7a76IntNet\u7a81\u7834\u6027\u5730\u8ba9\u8f66\u8f86\u80fd\u591f\u5171\u4eab\u610f\u56fe\uff0c\u800c\u975e\u4ec5\u4ec5\u4ea4\u6362\u4f4d\u7f6e\u6570\u636e\u3002\u8fd9\u79cd\u524d\u77bb\u6027\u901a\u4fe1\u8ba9\u8f66\u8f86\u80fd\u63d0\u524d\u9884\u6d4b\u5f7c\u6b64\u884c\u4e3a\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u5728\u9ad8\u901f\u516c\u8def\u3001\u4ea4\u53c9\u8def\u53e3\u548c\u8f66\u9053\u5408\u5e76\u7b49\u573a\u666f\u7684\u5b89\u5168\u6027\u548c\u6548\u7387\u3002\u672c\u6587\u63ed\u793a\u8fd9\u4e00\u521b\u65b0\u6846\u67b6\u5982\u4f55\u901a\u8fc7\u591a\u667a\u80fd\u4f53\u5f3a\u5316\u5b66\u4e60\uff0c\u8ba9\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e0d\u4ec5\u80fd\u770b\u5230\u5f53\u524d\uff0c\u66f4\u80fd\u9884\u89c1\u672a\u6765\uff0c\u4e3a\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u5f00\u8f9f\u65b0\u7bc7\u7ae0\u3002<\/p>\n\n\n\n<p><em>\u8be5\u6210\u679c\u5df2\u88abIEEE RAL\u6536\u5f55<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u9898\u76ee\uff1aIntNet: A Communication-Driven Multi-Agent Reinforcement Learning Framework for Cooperative Autonomous Driving<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u4f5c\u8005\uff1aLeandro Parada; Kevin Yu; Panagiotis Angeloudis<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u5730\u5740\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/ieeexplore.ieee.org\/document\/10844516\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ieeexplore.ieee.org\/document\/10844516<\/a><\/em><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1. <strong>\u7814\u7a76\u80cc\u666f<\/strong><\/h2>\n\n\n\n<p>\u5728\u52a8\u6001\u57ce\u5e02\u73af\u5883\u4e2d\u90e8\u7f72\u4e92\u8054\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff08Connected and Autonomous Vehicles\uff0c CAVs\uff09\u9700\u8981\u6709\u6548\u7684\u534f\u8c03\u6765\u786e\u4fdd\u5b89\u5168\u3002\u867d\u7136\u591a\u667a\u80fd\u4f53\u5f3a\u5316\u5b66\u4e60\uff08Multi-Agent Reinforcement Learning\uff0c MARL\uff09\u5728\u534f\u8c03\u591a\u673a\u5668\u4eba\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u7b49\u81ea\u4e3b\u4efb\u52a1\u4e2d\u5c55\u73b0\u51fa\u6f5c\u529b\uff0c\u4f46\u5c06\u5176\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u9762\u4e34\u72ec\u7279\u7684\u6311\u6218\u3002\u57ce\u5e02\u73af\u5883\u7684\u590d\u6742\u52a8\u6001\u6027\u548c\u90e8\u5206\u53ef\u89c2\u6d4b\u6027\u4f7f\u5f97\u5b9e\u73b0\u9ad8\u6c34\u5e73\u7684\u5b89\u5168\u548c\u534f\u8c03\u53d8\u5f97\u56f0\u96be\u3002\u6b64\u5916\uff0c\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\u7684\u4e0d\u53ef\u9884\u6d4b\u6027\u4e3a\u8fd9\u4e00\u6311\u6218\u589e\u6dfb\u4e86\u4e00\u5c42\u590d\u6742\u6027\u3002<\/p>\n\n\n\n<p>\u591a\u667a\u80fd\u4f53\u5f3a\u5316\u5b66\u4e60\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u6709\u5e7f\u6cdb\u5e94\u7528\uff0c\u4ece\u4ea4\u53c9\u8def\u53e3\u7ba1\u7406\u5230\u4ea4\u901a\u4f18\u5316\uff0c\u5c55\u793a\u4e86\u5176\u5bf9\u8be5\u9886\u57df\u7684\u5f71\u54cd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u7814\u7a76\u5f3a\u8c03\u4e86MARL\u5728\u534f\u4f5c\u8fd0\u52a8\u89c4\u5212\u4ee5\u53ca\u63a7\u5236\u4ea4\u901a\u4fe1\u53f7\u4ee5\u63d0\u9ad8\u57ce\u5e02\u673a\u52a8\u6027\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u663e\u8457\u8fdb\u6b65\uff0c\u4f46\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5b9e\u73b0\u6709\u6548\u534f\u8c03\u548c\u5b89\u5168\u4ecd\u7136\u662fMARL\u6700\u5173\u952e\u7684\u6311\u6218\u3002\u867d\u7136\u65e0\u6a21\u578bMARL\u672c\u8eab\u4e0d\u63d0\u4f9b\u5b89\u5168\u4fdd\u8bc1\uff0c\u4f46\u5b83\u901a\u8fc7\u8bd5\u9519\u5b66\u4e60\u63d0\u4f9b\u4e86\u4e00\u79cd\u5f3a\u5927\u7684\u65b9\u6cd5\u6765\u89e3\u51b3\u5b89\u5168\u95ee\u9898\uff0c\u7279\u522b\u662f\u5728\u5177\u6709\u591a\u6837\u5316\u548c\u590d\u6742\u914d\u7f6e\u7684\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n<p>\u667a\u80fd\u4f53\u534f\u8c03\u5df2\u5728MARL\u793e\u533a\u4e2d\u901a\u8fc7\u5171\u4eab\u72b6\u6001\u8868\u793a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7814\u7a76\u3002\u7136\u800c\uff0c\u5bf9\u4e8e\u50cf\u81ea\u52a8\u9a7e\u9a76\u8fd9\u6837\u7684\u5b89\u5168\u5173\u952e\u5e94\u7528\u2014\u2014\u5176\u7279\u70b9\u662f\u9ad8\u5ea6\u52a8\u6001\u573a\u666f\u2014\u2014\u4ec5\u4ec5\u5171\u4eab\u72b6\u6001\u7279\u5f81\u662f\u4e0d\u591f\u7684\u3002\u4e86\u89e3\u4ed6\u4eba\u7684\u672a\u6765\u610f\u56fe\u4e3a\u667a\u80fd\u4f53\u63d0\u4f9b\u4e86\u53ef\u80fd\u65e0\u6cd5\u83b7\u5f97\u7684\u989d\u5916\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u4ece\u800c\u4e3a\u66f4\u5b89\u5168\u3001\u66f4\u9ad8\u6548\u7684\u51b3\u7b56\u521b\u9020\u673a\u4f1a\u3002\u867d\u7136\u4e00\u4e9b\u7814\u7a76\u5df2\u7ecf\u63a2\u7d22\u4e86MARL\u4e2d\u7684\u610f\u56fe\u5171\u4eab\uff0c\u4f46\u5b83\u4eec\u7684\u5e94\u7528\u4ec5\u9650\u4e8e\u7b80\u5355\u7684\u7f51\u683c\u72b6\u73af\u5883\uff0c\u7f3a\u4e4f\u81ea\u52a8\u9a7e\u9a76\u7684\u590d\u6742\u6027\uff0c\u5982\u9ad8\u7ef4\u89c2\u6d4b\uff08\u4f8b\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\uff09\u548c\u81ea\u52a8\u4ea4\u901a\u52a8\u6001\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u73b0\u6709\u7684\u7a7a\u767d\uff0c\u672c\u6587\u5f15\u5165\u4e86IntNet\uff0c\u4e00\u4e2a\u4e3aCAVs\u5bfc\u822a\u590d\u6742\u57ce\u5e02\u73af\u5883\u5b89\u5168\u9ad8\u6548\u5b9a\u5236\u7684\u610f\u56fe\u5171\u4eabMARL\u6846\u67b6\u3002IntNet\u901a\u8fc7\u4e24\u4e2a\u901a\u4fe1\u6b65\u9aa4\u8fd0\u884c\uff1a\u5728\u7b2c\u4e00\u6b65\uff0c\u667a\u80fd\u4f53\u5171\u4eab\u7f16\u7801\u7684\u6d88\u606f\u548c\u57fa\u4e8e\u5b9e\u9645\u89c2\u5bdf\u5230\u7684\u4fe1\u606f\u7684\u6700\u8fd1\u51b3\u7b56\u7b56\u7565\uff1b\u5728\u7b2c\u4e8c\u6b65\uff0c\u5b83\u4eec\u901a\u8fc7\u672a\u6765\u9884\u6d4b\u8303\u56f4H\u5185\u4f20\u9012\u4f30\u8ba1\u7684\u610f\u56fe\u3002\u6bcf\u4e2a\u667a\u80fd\u4f53\u4f7f\u7528\u89c2\u5bdf\u9884\u6d4b\u5668\u6765\u9884\u6d4b\u73af\u5883\u72b6\u6001\uff0c\u5728\u8303\u56f4H\u4e0a\u6295\u5c04\u672a\u6765\u7b56\u7565\uff0c\u4ee5\u589e\u5f3a\u534f\u8c03\u548c\u4e3b\u52a8\u51b3\u7b56\u3002\u4e3a\u4e86\u9ad8\u6548\u7ba1\u7406\u8fd9\u4e2a\u8fc7\u7a0b\uff0c\u4f7f\u7528\u8c03\u5ea6\u5668\u7ec4\u4ef6\u8fdb\u884c\u5e26\u5bbd\u4f18\u5316\uff0c\u540c\u65f6\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257827001&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9B%BE%E6%B3%A8%E6%84%8F%E5%8A%9B%E7%BD%91%E7%BB%9C&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u56fe\u6ce8\u610f\u529b\u7f51\u7edc<\/a><\/p>\n\n\n\n<p>\u5904\u7406\u4f20\u5165\u7684\u6d88\u606f\u3002\u5728\u7aef\u5230\u7aef\u6846\u67b6\u4e2d\u6574\u5408\u6bcf\u4e2a\u7ec4\u4ef6\u4f7f\u5b89\u5168\u81ea\u7136\u5730\u4ece\u534f\u8c03\u5b66\u4e60\u4e2d\u51fa\u73b0\uff0c\u800c\u4e0d\u662f\u4f9d\u8d56\u786c\u7ea6\u675f\u3002\u6574\u4f53\u67b6\u6784\u91c7\u7528\u6f14\u5458-\u8bc4\u8bba\u5bb6\u635f\u5931\uff0c\u540c\u65f6\u4f7f\u7528\u72ec\u7acb\u7684\u76d1\u7763\u635f\u5931\u6765\u8bad\u7ec3\u89c2\u5bdf\u9884\u6d4b\u6a21\u5757\u3002\u8bad\u7ec3\u76f4\u63a5\u4ece\u73af\u5883\u4ea4\u4e92\u4e2d\u8fdb\u884c\uff0c\u65e0\u9700\u5bf9\u89c2\u5bdf\u9884\u6d4b\u5668\u8fdb\u884c\u9884\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-44fb7e74fe5b54745581f84913f7f46c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe1\uff1a\u5bf9MARL\u7684\u89e3\u91ca\uff1a\u56fe\u4e2d\u5c55\u793a\u4e86\u72b6\u6001\u4fe1\u606f\u548c\u8f66\u8f86\u610f\u56fe\u7684\u4ea4\u6362\u8fc7\u7a0b\u548c\u76f8\u4e92\u534f\u8c03\u5e76\u8fdb\u884c\u5b9e\u65f6\u51b3\u7b56\u7684\u8fc7\u7a0b\u3002<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-2d24da2a52b4c805f366cd41eaa81beb_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2\uff1aIntNet\u6846\u67b6\uff0c\u5728\u8be5\u6846\u67b6\u4e2d\uff0c\u8c03\u5ea6\u5668\u4f18\u5316\u4e86\u901a\u4fe1\u56fe\uff0c\u800cGAT\u6a21\u5757\u5219\u5904\u7406\u4f20\u5165\u6d88\u606f\uff0c\u5e76\u4f18\u5148\u5904\u7406\u51b3\u7b56\u6240\u9700\u7684\u4fe1\u606f\u3002<\/figcaption><\/figure>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n<p>1. \u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u9896\u7684\u610f\u56fe\u5171\u4eab\u6846\u67b6\u7528\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257827001&amp;content_type=Article&amp;match_order=1&amp;q=%E9%80%9A%E4%BF%A1%E5%9E%8BMARL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u901a\u4fe1\u578bMARL<\/a><\/p>\n\n\n\n<p>\uff0c\u96c6\u6210\u4e86\u56fe\u6ce8\u610f\u529b\u7f51\u7edc\uff08GATs\uff09\u5904\u7406\u5171\u4eab\u6d88\u606f\u548c\u8c03\u5ea6\u673a\u5236\u4f18\u5316\u901a\u4fe1\uff0c\u589e\u5f3a\u534f\u8c03\u5e76\u51cf\u5c11\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/p>\n\n\n\n<p>2. \u5f00\u53d1\u4e86\u4e00\u4e2a\u65e0\u9700\u9884\u8bad\u7ec3\u7684\u591a\u667a\u80fd\u4f53\u73af\u5883\u9884\u6d4b\u6a21\u5757\uff0c\u5141\u8bb8\u667a\u80fd\u4f53\u9012\u5f52\u89c4\u5212\u672a\u6765\u884c\u52a8\u3002<\/p>\n\n\n\n<p>3. \u8d85\u8d8a\u4e86\u5148\u524d\u5728\u7f51\u683c\u73af\u5883\u4e2d\u7684\u5de5\u4f5c\uff0c\u878d\u5165\u4e86\u9ad8\u7ef4\u89c2\u5bdf\u548c\u771f\u5b9e\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\uff0c\u63d0\u4f9b\u4e86\u66f4\u5177\u4ee3\u8868\u6027\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u901a\u4fe1\u578bMARL\u7684\u8bc4\u4f30\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2. <strong>\u7814\u7a76\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.1 \u57fa\u4e8e\u901a\u4fe1\u7684\u591a\u667a\u80fd\u4f53\u5f3a\u5316\u5b66\u4e60<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"211\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052101.png\" alt=\"\" class=\"wp-image-28751\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052101.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052101-300x95.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2 \u57fa\u4e8e\u610f\u56fe\u5171\u4eab\u7684MARL\u6846\u67b6<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u7684\u610f\u56fe\u5171\u4eabMARL\u6846\u67b6\u65e8\u5728\u901a\u8fc7\u901a\u4fe1\u578b\u6f14\u5458-\u8bc4\u8bba\u5bb6\u6a21\u578b\u4fc3\u8fdb\u534f\u4f5c\u73af\u5883\u4e2d\u667a\u80fd\u4f53\u95f4\u7684\u901a\u4fe1\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u4e24\u4e2a\u901a\u4fe1\u6b65\u9aa4\u8fd0\u884c\uff1a\u4e00\u4e2a\u7528\u4e8e\u5171\u4eab\u5f53\u524d\u89c2\u5bdf\u548c\u7b56\u7565\u6307\u7eb9\uff0c\u53e6\u4e00\u4e2a\u7528\u4e8e\u5728\u672a\u6765\u9884\u6d4b\u8303\u56f4\u5185\u4ea4\u6362\u4f30\u8ba1\u610f\u56fe\u3002<\/p>\n\n\n\n<p><strong>1\uff09\u89c2\u5bdf\u7f16\u7801\u548c\u7b56\u7565\u6307\u7eb9<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"543\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052102.png\" alt=\"\" class=\"wp-image-28752\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052102.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052102-300x246.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"532\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052103.png\" alt=\"\" class=\"wp-image-28753\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052103.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052103-300x240.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p>2.4 \u73af\u5883\u63cf\u8ff0<\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528\u4fee\u6539\u7248\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257827001&amp;content_type=Article&amp;match_order=1&amp;q=Highway-env&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Highway-env<\/a><\/p>\n\n\n\n<p>\uff0c\u9002\u7528\u4e8e\u591a\u667a\u80fd\u4f53\u57ce\u5e02\u5bfc\u822a\uff0c\u667a\u80fd\u4f53\u907f\u514d\u78b0\u649e\u5e76\u5230\u8fbe\u76ee\u7684\u5730\u4ee5\u6700\u5927\u5316\u5956\u52b1\u3002\u867d\u7136Highway-Env\u4f5c\u4e3a\u57fa\u7840\u6a21\u62df\u5668\uff0c\u4f46\u589e\u52a0\u5b9e\u65f6\u901a\u4fe1\u529f\u80fd\u548c\u52a8\u6001\u56fe\u5b66\u4e60\u663e\u8457\u589e\u52a0\u4e86\u573a\u666f\u590d\u6742\u6027\u3002\u667a\u80fd\u4f53\u5fc5\u987b\u5b9e\u65f6\u5904\u7406\u901a\u4fe1\uff0c\u6784\u5efa\u52a8\u6001\u56fe\u8fdb\u884c\u51b3\u7b56\uff0c\u5e76\u5728\u591a\u667a\u80fd\u4f53\u73af\u5883\u4e2d\u534f\u8c03\uff0c\u8fd9\u5e26\u6765\u4e86\u5de8\u5927\u7684\u8ba1\u7b97\u548c\u5b66\u4e60\u6311\u6218\u3002\u4e3a\u589e\u5f3a\u9002\u5e94\u6027\uff0c\u6211\u4eec\u5728\u8f66\u8f86\u901f\u5ea6\u3001\u4f4d\u7f6e\u548c\u76ee\u7684\u5730\u4e2d\u5f15\u5165\u968f\u673a\u6027\uff0c\u5e76\u5c06\u667a\u80fd\u4f53\u901a\u4fe1\u9650\u5236\u572860\u7c73\u5185\uff0c\u4ee5\u7b26\u5408DSRC\u534f\u8bae\u7ea6\u675f\u3002<\/p>\n\n\n\n<p>\u73af\u5883\u7684\u5143\u7d20\u5305\u62ec\uff1a<\/p>\n\n\n\n<p>1\uff09\u667a\u80fd\u4f53\uff1a\u5177\u6709\u6709\u9650\u53ef\u89c1\u6027\u7684CAVs\uff0c\u80fd\u591f\u901a\u8fc7\u8f66\u5bf9\u8f66\u901a\u4fe1\u7f51\u7edc\u4ea4\u6362\u6d88\u606f 2\uff09\u89c2\u6d4b\uff1a\u4f7f\u7528\u5c04\u7ebf\u6295\u5c04\u7684\u7c7b\u6fc0\u5149\u96f7\u8fbe\u65b9\u6cd5\uff0c\u5206\u5272\u667a\u80fd\u4f53\u5468\u56f4360\u00b0\u533a\u57df\uff0c\u63a2\u6d4b80\u7c73\u8303\u56f4\u5185\u7684\u5176\u4ed6\u8f66\u8f86 3\uff09\u52a8\u4f5c\uff1a\u5305\u62ec\u52a0\u901f\u3001\u51cf\u901f\u3001\u4fdd\u6301\u901f\u5ea6\u548c\u53d8\u9053\uff08\u5de6\u53f3\uff09\u7684\u79bb\u6563\u5143\u52a8\u4f5c 4\uff09\u5956\u52b1\uff1a\u4e3a\u534f\u4f5c\u6e38\u620f\u8bbe\u8ba1\u7684\u5956\u52b1\u51fd\u6570\uff0c\u5305\u542b\u901f\u5ea6\u3001\u907f\u649e\u3001\u5230\u8fbe\u548c\u5408\u4f5c\u5e76\u9053\u5956\u52b1\u7ec4\u4ef6<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">3.\u5b9e\u9a8c<\/h2>\n\n\n\n<p>\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u57fa\u7ebf\u5728\u4e09\u79cd\u573a\u666f\u4e0b\u8fdb\u884c\u57fa\u51c6\u6bd4\u8f83\uff1a\u9ad8\u901f\u516c\u8def\u3001\u56db\u5411\u4ea4\u53c9\u8def\u53e3\u548c\u8f66\u9053\u5408\u5e76\uff0c\u5982\u56fe3\u6240\u793a\uff0c\u5305\u62ec\u539f\u7406\u56fe\u548c\u5b9e\u9645\u73af\u5883\u8868\u793a\u4ee5\u8bf4\u660e\u89c2\u5bdf\u60c5\u51b5\u3002\u9ad8\u901f\u516c\u8def\u548c\u8f66\u9053\u5408\u5e76\u73af\u5883\u5305\u542b\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff08CAVs\uff09\u548c\u4eba\u7c7b\u9a7e\u9a76\u8f66\u8f86\uff08HDV\uff09\uff0c\u800c\u4ea4\u53c9\u8def\u53e3\u73af\u5883\u4ec5\u7531CAVs\u7ec4\u6210\u3002\u4e3a\u6a21\u62dfHDVs\uff0c\u6211\u4eec\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257827001&amp;content_type=Article&amp;match_order=1&amp;q=IDM%2FMOBIL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">IDM\/MOBIL<\/a><\/p>\n\n\n\n<p>\u8f66\u8f86\u8ddf\u968f\u6a21\u578b\uff0c\u8fd9\u5728\u6587\u732e\u4e2d\u5df2\u5e7f\u6cdb\u7528\u4e8e\u901a\u8fc7\u7b80\u5355\u5206\u6790\u6a21\u578b\u8868\u793a\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-21c788e3d7d7308ba370ad3302ac478a_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe3\uff1a\u5b9e\u9a8c\u573a\u666f<\/figcaption><\/figure>\n\n\n\n<p>\u6211\u4eec\u7814\u7a76\u7684\u4e3b\u8981\u8bc4\u4f30\u6307\u6807\u662f\u5e73\u5747\u5230\u8fbe\u7387\u548c\u78b0\u649e\u7387\uff0c\u4ee5\u767e\u5206\u6bd4\u8868\u793a\u3002\u5230\u8fbe\u7387\u91cf\u5316\u6240\u6709CAVs\u6210\u529f\u8fbe\u5230\u76ee\u7684\u5730\u7684\u573a\u666f\u767e\u5206\u6bd4\uff0c\u800c\u78b0\u649e\u7387\u6d4b\u91cf\u6d89\u53ca\u81f3\u5c11\u4e00\u6b21CAV\u78b0\u649e\u7684\u573a\u666f\u767e\u5206\u6bd4\u3002\u6b64\u5916\uff0c\u8fd8\u8bc4\u4f30\u5e73\u5747\u56e2\u961f\u6536\u76ca\u4ee5\u8bc4\u4f30\u6574\u4f53\u8868\u73b0\u3002\u4e3a\u786e\u5b9a\u6211\u4eec\u8bad\u7ec3\u7ed3\u679c\u7684\u7a33\u5065\u6027\uff0c\u6211\u4eec\u4f7f\u7528\u4e09\u4e2a\u72ec\u7acb\u7684\u79cd\u5b50\u751f\u6210\u5b66\u4e60\u66f2\u7ebf\uff0c\u5e76\u5728100\u4e2a\u6d4b\u8bd5\u573a\u666f\u4e2d\u9a8c\u8bc1\u7ed3\u679c\u3002\u6240\u6709\u5b9e\u9a8c\u7684\u9884\u6d4b\u8303\u56f4\u8bbe\u4e3aH=2\uff0c\u57fa\u4e8e\u521d\u6b65\u5b9e\u9a8c\uff0c\u5176\u7ed3\u679c\u5728\u9644\u5f55\u4e2d\u63d0\u4f9b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3.1 \u57fa\u7ebf\u6bd4\u8f83<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u4e0e\u5df2\u5efa\u7acb\u7684\u57fa\u4e8e\u901a\u4fe1\u7684MARL\u65b9\u6cd5\u5bf9\u6bd4\u8bc4\u4f30\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6027\u80fd\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u5171\u4eab\u72b6\u6001\u6216\u72b6\u6001\u7279\u5f81\u3002\u6bd4\u8f83\u5305\u62ec\u4e09\u79cd\u57fa\u7ebf\u65b9\u6cd5\uff1a\u65e0\u901a\u4fe1\u3001CommNet\u3001IC3Net\u548cMAGIC\u3002<\/p>\n\n\n\n<p>\u56fe4\u548c\u56fe5\u5206\u522b\u5c55\u793a\u4e86\u6240\u6709\u65b9\u6cd5\u5728\u4e09\u79cd\u573a\u666f\u4e0b\u7684\u56e2\u961f\u5956\u52b1\u548c\u5230\u8fbe\u7edf\u8ba1\uff0cIntNet\u5728\u6240\u6709\u573a\u666f\u4e2d\u59cb\u7ec8\u83b7\u5f97\u66f4\u9ad8\u7684\u5956\u52b1\u548c\u6210\u529f\u7387\u3002\u5230\u8fbe\u7387\u7684\u53d8\u5316\u8868\u660e\uff0c\u610f\u56fe\u5171\u4eab\u5728\u7279\u5b9a\u573a\u666f\u4e2d\u7279\u522b\u6709\u76ca\uff0c\u5982\u8f66\u9053\u5408\u5e76\u573a\u666f\uff0c\u8fd9\u5bf9\u5b89\u5168\u5bfc\u822a\u81f3\u5173\u91cd\u8981\uff0c\u800c\u5728\u4ea4\u53c9\u8def\u53e3\u573a\u666f\u4e2d\u7684\u5f71\u54cd\u8f83\u5c0f\u3002\u8868I\u8fdb\u4e00\u6b65\u8be6\u7ec6\u8bf4\u660e\u4e86\u8fd9\u4e9b\u573a\u666f\u4e2d100\u4e2a\u72ec\u7acb\u573a\u666f\u7684\u6d4b\u8bd5\u5230\u8fbe\u7387\u6027\u80fd\uff0c\u652f\u6301\u8fd9\u4e9b\u89c2\u5bdf\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-8d51ca590bd15e9a2bbc3fb730ebdb6b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe4\uff1a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u5956\u52b1<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-21f1acde8df9afba9ae8e482f10fe50b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe5\uff1a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u6210\u529f\u7387<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u9ad8\u901f\u516c\u8def\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u4f7f\u667a\u80fd\u4f53\u53ea\u970010\u4e07\u8bad\u7ec3\u573a\u666f\u5c31\u80fd\u8fbe\u5230\u9ad8\u6210\u529f\u6c34\u5e73\uff0c\u800c\u57fa\u7ebf\u65b9\u6cd5\u9700\u8981\u7ea620\u4e07\u573a\u666f\u624d\u80fd\u83b7\u5f97\u7c7b\u4f3c\u7684\u6210\u529f\u548c\u5b89\u5168\u7ed3\u679c\u3002\u5728\u4ea4\u53c9\u8def\u53e3\u573a\u666f\u4e2d\uff0c\u867d\u7136IC3Net\u5c55\u73b0\u4e86\u4e0e\u6211\u4eec\u7684IntNet\u65b9\u6cd5\u76f8\u5f53\u7684\u6210\u529f\uff0c\u4f46\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u4f9b\u4e86\u66f4\u5feb\u901f\u548c\u4e00\u81f4\u7684\u5b66\u4e60\u66f2\u7ebf\u3002\u6211\u4eec\u53d1\u73b0\u6240\u6709\u57fa\u7ebf\u7b97\u6cd5\u5728\u8f66\u9053\u5408\u5e76\u573a\u666f\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u8fd9\u4e2a\u573a\u666f\u8981\u6c42\u4e09\u4e2a\u573a\u666f\u4e2d\u6700\u591a\u7684\u5408\u4f5c\uff0c\u5bfc\u81f4\u57fa\u7ebf\u7b97\u6cd5\u5b66\u4e60\u4e0d\u4e00\u81f4\uff0c\u901a\u5e38\u503e\u5411\u4e8e\u4ee5\u727a\u7272\u5b89\u5168\u4e3a\u4ee3\u4ef7\u63d0\u9ad8\u901f\u5ea6\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u5bfc\u81f4\u66f4\u591a\u78b0\u649e\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3.2 \u53ef\u6269\u5c55\u6027<\/strong><\/h2>\n\n\n\n<p>\u4e3a\u8bc4\u4f30\u6211\u4eec\u65b9\u6cd5\u7684\u53ef\u6269\u5c55\u6027\uff0c\u6211\u4eec\u5728\u4ea4\u53c9\u8def\u53e3\u573a\u666f\u4e2d\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u9010\u6e10\u589e\u52a0\u7f51\u7edc\u4e2d\u7684\u667a\u80fd\u4f53\u6570\u91cf\u3002\u7ed3\u679c\u5982\u56fe6\u6240\u793a\uff0c\u5c55\u793a\u4e86\u667a\u80fd\u4f53\u6570\u91cf\u53d8\u5316\u65f6\u7684\u6d4b\u8bd5\u78b0\u649e\u7387\uff08%\uff09\u3002\u6b63\u5982\u9884\u671f\uff0c\u73af\u5883\u590d\u6742\u5ea6\u968f\u7740\u6bcf\u4e2a\u989d\u5916\u667a\u80fd\u4f53\u7684\u589e\u52a0\u800c\u63d0\u9ad8\uff0c\u4f7f\u5f97\u7ef4\u6301\u96f6\u78b0\u649e\u7387\u53d8\u5f97\u8d8a\u6765\u8d8a\u56f0\u96be\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u5f53\u589e\u52a0\u667a\u80fd\u4f53\u6570\u91cf\u65f6\uff0c\u6211\u4eec\u7684IntNet\u65b9\u6cd5\u76f8\u6bd4IC3Net\u6a21\u578b\u4ea7\u751f\u4e86\u663e\u8457\u66f4\u4f4e\u7684\u78b0\u649e\u7387\u3002\u968f\u7740\u66f4\u591a\u667a\u80fd\u4f53\u7684\u52a0\u5165\uff0cIC3Net\u6a21\u578b\u5c55\u793a\u4e86\u8d8a\u6765\u8d8a\u591a\u7684\u78b0\u649e\uff0c\u5f53\u73af\u5883\u5305\u542b\u5341\u4e2a\u667a\u80fd\u4f53\u65f6\uff0c\u78b0\u649e\u7387\u8d85\u8fc715%\uff0c\u7a81\u663e\u4e86\u5373\u4f7f\u6709\u901a\u4fe1\uff0c\u5728\u66f4\u62e5\u6324\u8bbe\u7f6e\u4e2d\u6269\u5c55\u7684\u6311\u6218\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-8f6dc04a1a1c0c4433c187be8f172b83_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe6\uff1a\u667a\u80fd\u4f53\u6570\u91cf\u5bf9\u7b97\u6cd5\u7684\u5f71\u54cd<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3.3\u901a\u4fe1\u6548\u7387<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u7684\u67b6\u6784\u5305\u62ec\u4e00\u4e2a\u8c03\u5ea6\u5668\u7ec4\u4ef6\uff0c\u4f18\u5316\u6d88\u606f\u4f20\u8f93\uff0c\u51cf\u5c11\u901a\u4fe1\u7f51\u7edc\u8d1f\u8f7d\u3002\u6211\u4eec\u901a\u8fc7\u5728\u4ec5\u6709CAVs\u7684\u4ea4\u53c9\u8def\u53e3\u573a\u666f\u4e2d\u8fdb\u884c\u5b9e\u9a8c\u8bc4\u4f30\u4e86\u5176\u5f71\u54cd\uff0c\u5bf9\u6bd4\u4e86\u6709\u65e0\u8c03\u5ea6\u5668\u7684\u7f51\u7edc\u6027\u80fd\u3002\u6ca1\u6709\u8c03\u5ea6\u5668\u65f6\uff0c\u7cfb\u7edf\u9ed8\u8ba4\u4e3a\u5b8c\u5168\u8fde\u63a5\u7f51\u7edc\uff0c\u4fc3\u8fdb\u8303\u56f4\u5185\u6240\u6709\u667a\u80fd\u4f53\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<p>\u667a\u80fd\u4f53\u4ec5\u5728\u5b89\u5168\u5bfc\u822a\u7684\u5173\u952e\u65f6\u523b\u901a\u4fe1\uff0c\u5982\u56fe7\u6240\u793a\uff0c\u5c55\u793a\u4e86\u4ea4\u53c9\u8def\u53e3\u73af\u5883\u4e2d\u4e24\u4e2a\u5173\u952e\u65f6\u523b\u7684\u901a\u4fe1\u56fe\u3002\u56fe7\uff08a\uff09\u63ed\u793a\u4e86\u667a\u80fd\u4f53\u63a5\u8fd1\u4ea4\u53c9\u8def\u53e3\u65f6\u7684\u56fe\uff0c\u56fe7\uff08b\uff09\u663e\u793a\u4e86\u5927\u591a\u6570\u667a\u80fd\u4f53\u79bb\u5f00\u65f6\u7684\u56fe\uff0c7\uff08b\uff09\u4e2d\u7684\u94fe\u63a5\uff08\u8f66\u8f86ID 0\u52303\uff09\u8868\u793a\u4ecd\u5728\u4ea4\u53c9\u8def\u53e3\u7684\u8f66\u8f86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-d659b82263e7ff0abbb00cbaa4de32a3_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe7\uff1a\u901a\u4fe1\u72b6\u6001<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">4. 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